ROS常用命令

女爷i 2022-12-26 08:12 181阅读 0赞

# 1 Environment #

# 打印当前终端下的ROS的环境变量
    # 如果没有所需要的，则需要source一下setup.*sh
    printenv | grep ROS
    
    # 添加环境变量
    source /opt/ros/melodic/setup.bash

# 2 Workspace #

## 新建工作空间 ##

mkdir -p ~/catkin_ws/src  # -p递归创建目录
    cd ~/catkin_ws/
    catkin_make

## 配置catkin\_ws的环境 ##

source ~/catkin_ws/devel/setup.bash
    echo $ROS_PACKAGE_PATH

# 3 基本命令 #

## rospack ##

# 查找某个pkg的地址
    # rospack find package_name  
    rospack find roscpp
    
    # 列出本地所有pkg
    rospack list
    
    # 查看某个package的first-order依赖项
    # rospack depends1 pkg_name
    rospack depends1 beginner_tutorials
    
    # 查看某个package的所有依赖项（包括间接依赖）
    rospack depends beginner_tutorials

## roscd（cd） ##

# 跳转到某个pkg目录下
    # roscd package_name
    roscd roscpp
    
    # 查看ros日志
    roscd log

## rosls（ls） ##

# 列举某个pkg下的文件信息
    # rosls package_name
    rosls roscpp

## catkin\_create\_pkg ##

# 新建一个package
    # catkin_create_pkg <pkg_name> [depend1] [depend2] [depend3]
    catkin_create_pkg beginner_tutorials std_msgs rospy roscpp

# 4 Packages #

Requirements：

*  a package.xml
 *  a CMakeLists.txt
 *  its own folder（放在src下面）

结构：

my_package/
      CMakeLists.txt
      package.xml

## 新建一个Package ##

cd ~/catkin_ws/src
    # catkin_create_pkg 功能包名 [依赖功能包1] [依赖功能包2]...
    catkin_create_pkg beginner_tutorials std_msgs rospy roscpp

## Building Packages ##

cd ~/catkin_ws/src
    catkin_make
    source ~/catkin_ws/devel/setup.bash

# 5 Nodes #

使用ROS之前需要运行命令roscore。

# 查看所有节点
    rosnode list
    
    # 查看单个节点信息
    rosnode info /rosout
    
    # 启动节点
    # rosrun [package_name] [node_name]
    rosrun turtlesim turtlesim_node
    rosrun turtlesim turtle_teleop_key
    
    # ping
    rosnode ping my_turtle

# 6 Topics #

## rqt ##

# 启动rqt_graph，查看节点间的信息传递
    rosrun rqt_graph rqt_graph
    
    # 启动rqt_plot
    rosrun rqt_plot rqt_plot

## rostopic ##

# 查看rostopic的选项
    rostopic -h
    
    # 查看一个topic输出的数据
    # rostopic echo [topic]
    rostopic echo /turtle1/cmd_vel
    
    #  查看rostopic list的选项
    rostopic list -h
    
    # 列出每个topic的所有细节
    rostopic list -v
    
    # 查看一个topic输出的message类型
    # rostopic type [topic]
    rostopic type /turtle1/cmd_vel
    
    # 查看message的细节
    rosmsg show geometry_msgs/Twist
    
    # 在当前使用的topic输出data
    # -1 表示只输出一次
    rostopic pub -1 /turtle1/cmd_vel geometry_msgs/Twist -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 1.8]'
    # -r 1 表示已1Hz的频率持续输出
    rostopic pub /turtle1/cmd_vel geometry_msgs/Twist -r 1 -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, -1.8]'
    
    # 打出data被publish的频率
    # rostopic hz [topic]
    rostopic hz /turtle1/pose

# 7 Services #

# 列出正在运行的所有的service
    rosservice list
    
    # 查看一个service的类型
    # rosservice type [service]
    rosservice type /clear
    
    # 调用一个service
    # rosservice call [service] [args]
    rosservice call /clear
    
    # find services by service type
    rosservice find
    
    # print service ROSRPC uri        
    rosservice uri

# 8 rosparam #

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