常用的ROS命令行命令:
rostopic
rosservice
rosnode
rosparam
rosmsg
rossrv
ROS小海龟的案例:
roscore #启动ROS master
rosrun turtlesim turtlesim_node #启动小海龟仿真器
rosrun turtlesim turtlesim_teleop_key #启动海龟控制节点
显示系统计算图命令:
rqt_graph
显示系统所有相关节点的指令:
rosnode
#直接输入rosnode可以显示帮助
查看话题列表:
rosnode list
发布话题消息:
rostopic pub -r 10/turtle1/cmd_vel geometry_msgs/Twist"linear:
x:1.0
y:0.0
z:0.0
angular:
x:0.0
y:0.0
z:0.0"
发布服务请求:
rosservice call /spawn "x:5.0
y:5.0
theta:0.0
name:'turtle2'"
话题记录:
rosbag record -a -O cmd_record
话题复现:
rosbag play cmd_record.bag