烈火如歌-ROS入门使用

Tutorials

Filesystem tools（文件系统工具）
Example:

$ rospack find roscpp

would return:

YOUR_INSTALL_PATH/share/roscpp

roscd  #切换目录，只能切换到那些路径已经包含在ROS_PACKAGE_PATH环境变量中的软件包
rosls  #直接按软件包的名称而不是绝对路径执行ls命令

建立ROS程序包

Creating a catkin Package

#You should have created this in the Creating a Workspace Tutorial
$ cd ~/catkin_ws/src
$ catkin_create_pkg beginner_tutorials std_msgs rospy roscpp
# This is an example, do not try to run this
# catkin_create_pkg <package_name> [depend1] [depend2] [depend3]

Building the packages in the catkin workspace:

$ cd ~/catkin_ws
$ catkin_make
$ . ~/catkin_ws/devel/setup.bash   #.可以替换为source命令

roscore is the first thing you should run when using ROS.

Open up a new terminal, useing rosnode (显示当前运行的ROS节点信息)
rosnode list 指令列出活跃的节点

$ rosnode info /rosout    #rosnode info 命令返回的是关于一个特定节点的信息