ROS 基础操作

创建工作空间
mkdir -p catkin_ws/src
编译空间
catkin_make
创建包
catkin_create_pkg test1
创建包 加依赖
catkin_create_pkg test2 roscpp rospy std_msgs nav_msgs
从github克隆
git clone https://github.com/DroidAITech/ROS-Academy-for-Beginners.git
给包加依赖
rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
编译包
catkin_make
更新配置
source ~/catkin_ws/devel/setup.bash
写入配置
echo “source ~/catkin_ws/devel/setup.bash” >> ~/.bashrc
查询包路径
rospack find test1
列出包下面内容
rosls topic_demo/
打开包下面文件
rosed topic_demo CMakeLists.txt
到包目录下
roscd robot_sim_demo/
启动 robot_sim_demo包下robot_spawn.launch文件配置的节点
roslaunch robot_sim_demo robot_spawn.launch
查看当前运行节点
rosnode list
查看节点详情
rosnode info /cmd_vel_mux
运行节点
rosrun robot_sim_demo robot_keyboard_teleop.py
查看topic
rostopic list

我的其他有关ros 的博客,不妨一看
Ubuntu 安装 ros linux 验证安装成功
http://hotdog29.com/index.php/2019/06/22/ubuntu-安装-ros-kinetic-官方教程-下载-linux/
ROS 订阅雷达话题，获取点云数据，可视化，生成鸟瞰图
http://hotdog29.com/index.php/2019/06/22/ros-订阅雷达话题，获取点云数据，可视化，生成鸟/
ROS订阅雷达话题　获取坐标
http://hotdog29.com/index.php/2019/06/22/ros订阅雷达话题　获取坐标-bag数据包/
快速安装依赖包
https://blog.csdn.net/weixin_41600500/article/details/88432283
.bag 包转化成.pcd文件
https://blog.csdn.net/weixin_41600500/article/details/88432257
ros 播放激光雷达数据包，rviz可视化
http://hotdog29.com/index.php/2019/06/22/ros-播放激光雷达数据包，rviz可视化/
ROS 基础操作
https://blog.csdn.net/weixin_41600500/article/details/86213794
ros 基础操作２
https://blog.csdn.net/weixin_41600500/article/details/88412954