ROS笔记（1）

这一部分不断更新自己学到Ros中的一些知识

图片来源——古月居ROS

 

ros操作指令

 

 需要开三个终端 每个终端运行一个指令

 打开第四个终端输入rqt_graph(可视化工具用来显示节点之间的关系） 

输入rosnode后使用回车

rosnode is a command-line tool for printing information about ROS Nodes.

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

Type rosnode <command> -h for more detailed usage, e.g. 'rosnode ping -h'

每个指令的作用大家可以用英文来看

输入rostopic

rostopic is a command-line tool for printing information about ROS Topics.

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
    rostopic pub    publish data to topic
    rostopic type    print topic or field type

Type rostopic <command> -h for more detailed usage, e.g. 'rostopic echo -h'
每个指令的作用也是如上图

通过 rostopic pub    来移动小海龟

输入rostopic pub /turtle1/cmd_vel 用tab补全

得到

rostopic pub /turtle1/cmd_vel geometry_msgs/Twist "linear:
  x: 0.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0" 

可以通过控制线速度和角速度来达到控制小海龟的目的

如下图通过控制线速度使得小海龟向右平移 

输入rosmsg
rosmsg is a command-line tool for displaying information about ROS Message types.

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

Type rosmsg <command> -h for more detailed usage
 

输入rosservice
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

Type rosservice <command> -h for more detailed usage, e.g. 'rosservice call -h'