ROS：ROS2中的命令行

$ ros2 --help
usage: ros2 [-h] [--use-python-default-buffering] Call `ros2 <command> -h` for more detailed usage. ...

ros2 is an extensible command-line tool for ROS 2.

options:
  -h, --help            show this help message and exit
  --use-python-default-buffering
                        Do not force line buffering in stdout and instead use the python default buffering, which might be affected by PYTHONUNBUFFERED/-u and depends on whatever
                        stdout is interactive or not

Commands:
  action     Various action related sub-commands
  bag        Various rosbag related sub-commands
  component  Various component related sub-commands
  daemon     Various daemon related sub-commands
  doctor     Check ROS setup and other potential issues
  interface  Show information about ROS interfaces
  launch     Run a launch file
  lifecycle  Various lifecycle related sub-commands
  multicast  Various multicast related sub-commands
  node       Various node related sub-commands
  param      Various param related sub-commands
  pkg        Various package related sub-commands
  run        Run a package specific executable
  security   Various security related sub-commands
  service    Various service related sub-commands
  topic      Various topic related sub-commands
  wtf        Use `wtf` as alias to `doctor`

  Call `ros2 <command> -h` for more detailed usage.

查看节点信息

$ ros2 node
usage: ros2 node [-h] Call `ros2 node <command> -h` for more detailed usage. ...

Various node related sub-commands

options:
  -h, --help            show this help message and exit

Commands:
  info  Output information about a node
  list  Output a list of available nodes

  Call `ros2 node <command> -h` for more detailed usage.

• 当前运行的ROS系统中都有哪些节点呢?

$ ros2 node list
/talker

• 如果对某一个节点感兴趣，加上一个info子命令，就可以知道它的详细信息啦：

$ ros2 node info /talker
/talker
  Subscribers:
    /parameter_events: rcl_interfaces/msg/ParameterEvent
  Publishers:
    /chatter: std_msgs/msg/String
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /rosout: rcl_interfaces/msg/Log
  Service Servers:
    /talker/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /talker/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /talker/get_parameters: rcl_interfaces/srv/GetParameters
    /talker/list_parameters: rcl_interfaces/srv/ListParameters
    /talker/set_parameters: rcl_interfaces/srv/SetParameters
    /talker/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
  Service Clients:

  Action Servers:

  Action Clients:

运行节点程序

想要运行ROS2中某个节点，我们可以使用ros2 run命令进行操作，例如我们要运行海龟仿真节点和键盘控制节点：

$ ros2 run turtlesim turtlesim_node
$ ros2 run turtlesim turtle_teleop_key

查看话题信息

$ ros2 topic
usage: ros2 topic [-h] [--include-hidden-topics] Call `ros2 topic <command> -h` for more detailed usage. ...

Various topic related sub-commands

options:
  -h, --help            show this help message and exit
  --include-hidden-topics
                        Consider hidden topics as well

Commands:
  bw     Display bandwidth used by topic
  delay  Display delay of topic from timestamp in header
  echo   Output messages from a topic
  find   Output a list of available topics of a given type
  hz     Print the average publishing rate to screen
  info   Print information about a topic
  list   Output a list of available topics
  pub    Publish a message to a topic
  type   Print a topic's type

  Call `ros2 topic <command> -h` for more detailed usage.

• 当前系统中都有哪些话题

$ ros2 topic list
/parameter_events
/rosout
/turtle1/cmd_vel
/turtle1/color_sensor
/turtle1/pose

• 某一个话题中的消息数据

$ ros2 topic echo /turtle1/pose
x: 5.544444561004639
y: 5.544444561004639
theta: 0.0
linear_velocity: 0.0
angular_velocity: 0.0

发布话题消息

• 想要控制海龟动起来，我们可以直接通过命令行发布话题指令：

$ ros2 topic pub --rate 1 /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}"

发送服务请求

$ ros2 service
usage: ros2 service [-h] [--include-hidden-services]
                    Call `ros2 service <command> -h` for
                    more detailed usage. ...

Various service related sub-commands

options:
  -h, --help            show this help message and exit
  --include-hidden-services
                        Consider hidden services as well

Commands:
  call  Call a service
  find  Output a list of available services of a given type
  list  Output a list of available services
  type  Output a service's type

  Call `ros2 service <command> -h` for more detailed usage.

$ $ ros2 service list
/clear
/kill
/reset
/spawn
/teleop_turtle/describe_parameters
/teleop_turtle/get_parameter_types
/teleop_turtle/get_parameters
/teleop_turtle/list_parameters
/teleop_turtle/set_parameters
/teleop_turtle/set_parameters_atomically
/turtle1/set_pen
/turtle1/teleport_absolute
/turtle1/teleport_relative
/turtlesim/describe_parameters
/turtlesim/get_parameter_types
/turtlesim/get_parameters
/turtlesim/list_parameters
/turtlesim/set_parameters
/turtlesim/set_parameters_atomically

• 一只海龟太孤单，仿真器还提供改了一个服务——产生海龟，我们试一试服务调用，再来一只海龟：

$ ros2 service call /spawn turtlesim/srv/Spawn "{x: 2, y: 2, theta: 0.2, name: ''}"
waiting for service to become available...
requester: making request: turtlesim.srv.Spawn_Request(x=2.0, y=2.0, theta=0.2, name='')

response:
turtlesim.srv.Spawn_Response(name='turtle2')

发送动作目标

$ ros2 action
usage: ros2 action [-h] Call `ros2 action <command> -h` for more detailed usage. ...

Various action related sub-commands

options:
  -h, --help            show this help message and exit

Commands:
  info       Print information about an action
  list       Output a list of action names
  send_goal  Send an action goal

  Call `ros2 action <command> -h` for more detailed usage.

• 想要让海龟完成一个具体动作，比如转到指定角度，可以通过action发送目标动作

$  ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute "theta: 3"

录制控制命令

$ ros2 bag
usage: ros2 bag [-h] Call `ros2 bag <command> -h` for more detailed usage. ...

Various rosbag related sub-commands

options:
  -h, --help            show this help message and exit

Commands:
  convert  Given an input bag, write out a new bag with different settings
  info     Print information about a bag to the screen
  list     Print information about available plugins to the screen
  play     Play back ROS data from a bag
  record   Record ROS data to a bag
  reindex  Reconstruct metadata file for a bag

  Call `ros2 bag <command> -h` for more detailed usage.

• 系统运行中的数据有很多，如果想要把某段数据录制下来，回到实验室再复现这段数据如何？ROS2中的rosbag功能还是很好用的，轻松实现数据的录制与播放：

$ ros2 bag record /turtle1/cmd_vel
$ ros2 bag play rosbag2_2022_04_11-17_35_40/rosbag2_2022_04_11-17_35_40_0.db3