常用的ROS命令

在这里记一下,以免以后忘记了。

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建立catkin工程:

catkin_create_pkg projectname roscpp sensor_msgs pcl_ros pcl_conversions

创建后可将cmakelists.txt中add_executable,add_dependencies,target_link_libraries这几行反注释掉。

打开ros master:

roscore

查看topic列表:

rostopic list -v

打印topic内容:

rostopic echo /topic

将bag转为pcd:

rosrun pcl_ros bag_to_pcd out.bag /velodyne_points ./pcd/

打开界面:

rviz

录制topic做出bag:

rosbag record -o out.bag /velodyne_points

查看bag信息:

rosbag info out.bag

查看topic发送接收图:

rosrun rqt_graph rqt_graph

重映射topic信息(将out.bag中point_cloud转为velodyne_points):

rosbag play out.bag  /point_cloud:=/velodyne_points

将point_cloud转为laserscan:

rosrun pointcloud_to_laserscan pointcloud_to_laserscan_node cloud_in:=/your_velodyne_points

查看bag中对应topic的frame_id:

rostopic echo /topic | grep frame_id

查看tf树:

rosrun rqt_tf_tree rqt_tf_tree

发布base_link到velodyne的变换(use_sim_time设为true):

rosrun tf static_transform_publisher 0 0 0 0 0 0 base_link velodyne 0

保存地图:

rosrun map_server map_saver -f my_map

将cartographer生成的pbstream导出为ros标准地图:

首先新建offline_pbstream_to_rosmap.launch

<launch>
  <node name="cartographer_pbstream_to_ros_map" pkg="cartographer_ros"
      type="cartographer_pbstream_to_ros_map" args="
          -pbstream_filename $(arg pbstream_filename)
          -map_filestem $(arg map_filestem)
          -resolution $(arg resolution)"
      output="screen">
  </node>
</launch>

再输入如下命令:

roslaunch cartographer_ros offline_pbstream_to_rosmap.launch pbstream_filename:=/home/out.pbstream map_filestem:=/home/out resolution:=0.05

posted @ 2019-05-04 17:42  Dsp Tian  阅读(1995)  评论(0编辑  收藏  举报