ros中常用指令分类汇总

编译指令

1.单独编译某个包

catkin_make -DCATKIN_WHITELIST_PACKAGES=" 包名"

路径查找指令

ros官方说明：wiki/roscd

1 roscd 不加任何参数会转到ros空间下
2 roscd <package-or-stack>[/subdir] 查找包的位置

话题查找指令

官方说明wiki/rostopic

rostopic bw     display bandwidth used by topic
rostopic delay display delay for topic which has header
rostopic echo   print messages to screen
rostopic find   find topics by type
rostopic hz     display publishing rate of topic
rostopic info   print information about active topic
rostopic list   print information about active topics
rostopic pub    publish data to topic
rostopic type   print topic type

节点启动指令

1.rosrun

rosrun <package> <executable>     package：包名 executable ：节点

2.roslaunch
官网说明：wiki/roslaunch

$ roslaunch package_name file.launch