ETH ROS练习1

参考内容
链接: ROS编程（ETH）2018更新版习题说明（一）.
ros-melodic版本与kinetic不一样，在/husky_gazebo/launch/spawn_husky.launch,无laser结构
办法:使用kinetic也可以在melodic使用。
git 代码：
git clone https://github.com/husky/husky -b kinetic-devel
2. 对ros中 rosnode list 、rostopic list 、rostopic echo [TOPIC] 、rostopic hz [TOPIC] 、rqt_graph操作熟悉
rosnode list
/base_controller_spawner
/ekf_localization
/gazebo
/gazebo_gui
/joy_teleop/joy_node
/joy_teleop/teleop_twist_joy
/robot_state_publisher
/rosout
/twist_marker_server
/twist_mux

topic list
/clock
/cmd_vel
/diagnostics
/e_stop
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/husky_velocity_controller/cmd_vel
/husky_velocity_controller/odom
/husky_velocity_controller/parameter_descriptions
/husky_velocity_controller/parameter_updates
/imu/data
/imu/data/accel/parameter_descriptions
/imu/data/accel/parameter_updates
/imu/data/bias
/imu/data/rate/parameter_descriptions
/imu/data/rate/parameter_updates
/imu/data/yaw/parameter_descriptions
/imu/data/yaw/parameter_updates
/joint_states
/joy_teleop/cmd_vel
/joy_teleop/joy
/joy_teleop/joy/set_feedback
/navsat/fix
/navsat/fix/position/parameter_descriptions
/navsat/fix/position/parameter_updates
/navsat/fix/status/parameter_descriptions
/navsat/fix/status/parameter_updates
/navsat/fix/velocity/parameter_descriptions
/navsat/fix/velocity/parameter_updates
/navsat/vel
/odometry/filtered
/rosout
/rosout_agg
/set_pose
/tf
/tf_static
/twist_marker_server/cmd_vel
/twist_marker_server/feedback
/twist_marker_server/update
/twist_marker_server/update_full
ros topic echo [topic]
查看数据存储内容

rostopic hz [TOPIC]
数据频率
可视化框图
rqt_graph

终端发布一个速度指令**
新建launch 其中参考其他加：

  <node pkg="teleop_twist_keyboard" name="teleop_husky" type="teleop_twist_keyboard.py"/>