1,打开一个终端运行内核:
$ roscore
2,再打开一个终端运行仿真节点:
$ rosrun turtlesim turtlesim_node
3,再打开一个终端运行键盘:
$ rosrun turtlesim turtle_teleop_key
4,安装rqt-graph工具包和通讯插件
$ sudo apt-get install ros-melodic-rqt
$ sudo apt-get install ros-melodic-rqt-common-plugins
5,再打开一个终端运行rqt-graph:
$ rosrun rqt_graph rqt_graph
6,鼠标放在/turtle1/cmd_vel上观察节点通信路径颜色变化:
7,查看ROS topics 的help信息:
$ rostopic -h
***************************************
uu@uu-HP-EliteBook-6930P-Notebook-PC:~$ rostopic -h
rostopic is a command-line tool for printing information about ROS Topics.
Commands:
rostopic bw display bandwidth used by topic
rostopic delay displ