ROS学习笔记

官网教程：http://wiki.ros.org/cn/ROS/Tutorials

文件系统工具介绍

• rospack
  rospack find [包名称]
  rospack depends1 [包名称]（查看一级依赖关系）

• roscd
  roscd [包名称]
  roscd log（进入日志目录）

• rosls
  rosls [包名称]

• rosed（编辑文件）
  rosed [包名] [文件名]

• roscp
  roscp [包名] [文件名] [目的路径]

• rosmsg

• rossrv

创建工作空间

• 创建目录并初始化

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace

• 编译（即使为空，也可编译）

$ cd ~/catkin_ws/
$ catkin_make

• 设置环境变量

$ source devel/setup.bash

• 查看环境变量

$ echo $ROS_PACKAGE_PATH

创建程序包

• catkin_create_pkg命令 e.g.

$ cd ~/catkin_ws/src
$ catkin_create_pkg beginner_tutorials std_msgs rospy roscpp
# catkin_create_pkg <package_name> [depend1] [depend2] [depend3]

• 修改清单文件 package.xml, 修改标签、设置依赖项
  详细参考：
  http://wiki.ros.org/cn/ROS/Tutorials/CreatingPackage

编译程序包

• 进入catkin_ws目录编译

$ cd ~/catkin_ws/
$ catkin_make

ROS节点

• roscore
  运行所有ROS程序前首先要运行的命令
• rosnode
  rosnode list;
  rosnode info [节点名];
  rosnode ping [节点名];
  rosnode cleanup;

• rosrun
  rosrun [包名] [节点名]

• roslaunch 启动多个节点
  roslaunch [package] [filename.launch]

ROS话题

• rostopic

pi@raspberrypi:~ $ rostopic -h
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 type

Type rostopic <command> -h for more detailed usage, e.g. 'rostopic echo -h'

ROS服务和参数

• rosservice

pi@raspberrypi:~ $ rosservice -h
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'

• rosparam

pi@raspberrypi:~ $ rosparam -h
rosparam is a command-line tool for getting, setting, and deleting parameters from the ROS Parameter Server.

Commands:
    rosparam set    set parameter
    rosparam get    get parameter
    rosparam load   load parameters from file
    rosparam dump   dump parameters to file
    rosparam delete delete parameter
    rosparam list   list parameter names