2. ROS2 节点和主题

1 节点

节点的理解

每个节点都可以通过 topic，service，action，param 向其他节点发送和接受数据。

常用命令

ros2 node list
ros2 node info
输入rqt 直接回车可以看到当前ROS系统中的节点关系图，还可以参看很多节点相关信息

2 主题

ros2 topic bw 主题名

ros2 topic bw Display bandwidth used by topic
ros2 topic delay Display delay of topic from timestamp in header
ros2 topic echo Output messages from a topic
ros2 topic hz Print the average publishing rate to screen
ros2 topic info Print information about a topic
ros2 topic list Output a list of available topics
ros2 topic pub Publish a message to a topic

小乌龟控制demo

安装：sudo apt install ros-dashing-turtlesim
ros2 run turtlesim turtlesim_node
ros2 run turtlesim turtle_teleop_key

自带 demo运行

ros2 run demo_nodes_cpp talker
ros2 run demo_nodes_cpp listener