[TOC]
创建 ROS 工作空间
启动ros
roscore
创建工作环境
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
编译 ROS 程序
cd ~/catkin_ws
catkin_make
添加程序包到全局路径
echo "source catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
Package 相关操作
创建 Package 并编译
cd ~/catkin_ws/src
catkin_create_pkg <package_name> [depend1] [depend2] [depend3]
cd ~/catkin_ws
catkin_make
查找 Package
rospack find [package name]
查看 Package 依赖
rospack depends <package_name>
rospack depends1 <package_name>
Node 相关操作
查看所有正在运行的 Node
rosnode list
查看某节点信息
rosnode info [node_name]
运行 Node
rosrun [package_name] [node_name] [__name:=new_name]
Topic 相关操作
rostopic -h
查看所有 Topic 列表
rostopic list
图形化显示 topic
rosrun rqt_graph rqt_graph
rosrun rqt_plot rqt_plot
rosrun rqt_console rqt_console
查看某个 Topic 信息
rostopic echo [topic]
查看 Topic 消息格式
rostopic type [topic]
rosmsg show [msg_type]
向topic发布消息
rostopic pub [-1] <topic> <msg_type> [-r 1] -- [args] [args]
Service 相关操作
查看所以service操作
rosservice -h
查看 service 列表
rosservice list
调用 service
rosservice call [service] [args]
查看 service 格式并显示数据
rosservice type [service] | rossrv show
设置service parameter
rosparam set [parame_name] [args] + rosservice call clear
获得parameter
rosparam get [parame_name]
加载parameter
rosparam load [file_name] [namespace]
删除parameter
rosparam delete
Bag 相关操作
录制所有topic变化
rosbag record -a
记录某些topic
rosbag record -O subset <topic1> <topic2>
查看bag信息
rosbag info <bagfile_name>
回放
rosbag play (-r 2) <bagfile_name>
如何清除ros使用中log文件
rosclean check
rosclean purge
