ros学习
常用指令
- 展现topic
rqt_graph
- 查看节点
rosnode list
- 查看节点信息
rosnode info /turtlesim
- rostopic
- rostopic list
- rostopic pub /turtle1/cmd… 发布一次
- rostopic pub -r 10 /turtle1/cmd… 10Hz发布一次
- rosmsg show geometry_msgs/Twist
- rosservice list
- rosservice call /spawn …
- 记录bag
rosbag record -a -O cmd_record
- 播放bag
rosbag play cmd_record.bag
创建功能包
catkin_create_pkg test_pkg std_msgs rospy roscpp
设置环境变量
source devel/setup.bash