ROS仿真的简单使用

roscore                      //用于启动rosmaster  是所有节点的一个管理器 必须首先运行

rosrun Package Node          //rosrun用于运行目标功能包下的目标节点

rqt_xxx                      //如rpt_graph 都是一些基于qt的一些可视化工具 可以展现当前系统的节点之间通讯图

rosnode xxx                  //显示有关节点的信息
Commands:
	rosnode ping	test connectivity to node
	rosnode list	list active nodes
	rosnode info	print information about node
	rosnode machine	list nodes running on a particular machine or list machines
	rosnode kill	kill a running node
	rosnode cleanup	purge registration information of unreachable nodes


rostopic                    //显示当前系统的有关话题的信息
Commands:
	rostopic bw	display bandwidth used by topic
	rostopic delay	display delay of topic from timestamp in header
	rostopic echo	print messages to screen
	rostopic find	find topics by type
	rostopic hz	display publishing rate of topic    
	rostopic info	print information about active topic
	rostopic list	list active topics                  //查看所有话题
	rostopic pub	publish data to topic               //用于发送数据给话题
	rostopic type	print topic or field type


rosmsg                    //消息的有关信息 比如查看他的数据结构和类型
Commands:
	rosmsg show	Show message description
	rosmsg info	Alias for rosmsg show
	rosmsg list	List all messages
	rosmsg md5	Display message md5sum
	rosmsg package	List messages in a package
	rosmsg packages	List packages that contain messages

roseservice               //服务的有关信息
Commands:
	rosservice args	print service arguments
	rosservice call	call the service with the provided args
	rosservice find	find services by service type
	rosservice info	print information about service
	rosservice list	list active services
	rosservice type	print service type
	rosservice uri	print service ROSRPC uri