ROS知识要点

数据类型

int8, int16, int32, int64 (plus uint*)
float32, float64
string
time, duration
other msg files
variable-length array[] and fixed-length array[]

变量

• $ROS_PACKAGE_PATH

命令

• rospack
  
  • 包的依赖 rospack depends1 xx 或 rospack depends rospy
• rosls
• roscd

• roslog

• catkin_make –source myworkspace 指定make的目录

• roscore

• rosnode list

• rosnode info /rosout

• rosnode ping rosout

• rosrun turtlesim turtlesim_node (可选 __name:=my_turtle)

• rostopic list -v 列出所有主题的发布和接收

• rostopic echo可以显示在某个话题上发布的数据胡

• rosrun rqt_graph rqt_graph 绘制各个node发布和接收的topic

• rosparam list

• rosparam get /

创建一个workspace

$ mkdir -p ~/catkin_ws/src
$ cd ~/c$ cd ~/catkin_ws/
$ catkin_make_init_workspace

$ cd ~/catkin_ws/
$ catkin_make

$ source devel/setup.bash

创建包

cd ~/catkin_ws/src
catkin_create_pkg common std_msgs rospy roscpp

编译包

• 编译所有包

cd ~/catkin_ws/ && catkin_make

• 编译指定的包

cd ~/catkin_ws/ &a