roscore and rosmaster幕后的功臣

最新推荐文章于 2025-04-27 19:00:00 发布

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最新推荐文章于 2025-04-27 19:00:00 发布 · 2.7k 阅读

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CC 4.0 BY-SA版权

本文介绍了roscore和rosmaster在ROS系统中的作用。roscore启动的节点定义在roslaunch/roscore.xml中，它提供命名和注册服务，使ROS节点能相互定位。ROSMaster跟踪话题的发布者和订阅者以及服务，实现节点间的通信。当需要关闭ROS进程时，可以使用rosnode kill -a或pkill roslaunch。

理论:

测试运行:roscore -p 1234

... logging to /home/xuting/.ros/log/7e20e3fe-a0be-11e6-ae70-00150064e94c/roslaunch-ubuntu-710.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/xuting/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.

started roslaunch server http://192.168.8.109:39086/
ros_comm version 1.11.16

SUMMARY
========

PARAMETERS
* /rosdistro: indigo
* /rosversion: 1.11.16

NODES

WARNING: ROS_MASTER_URI port [11311] does not match this roscore [1234]
auto-starting new master
process[master]: started with pid [724]
ROS_MASTER_URI=http://192.168.8.109:1234/

setting /run_id to 7e20e3fe-a0be-11e6-ae70-00150064e94c
process[rosout-1]: started with pid [737]
started core