ROS工具roswtf

    roswtf可以对你安装或者运行的ROS系统做如下检查：

1 安装检查

以下命令执行前，请确保roscore未启动。

$ roscd
$ roswtf

如果没有问题将输出如下信息：

Loaded plugin tf.tfwtf
No package or stack in context
================================================================================
Static checks summary:

No errors or warnings
================================================================================

ROS Master does not appear to be running.
Online graph checks will not be run.

2 运行检查（有ROS节点运行时）

可以先让ros master运行起来（命令roscore）

$ roscd
$ roswtf

将输出如下信息：

Loaded plugin tf.tfwtf
No package or stack in context
================================================================================
Static checks summary:

No errors or warnings
================================================================================
Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
... done running graph rules

Online checks summary:

Found 1 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING The following node subscriptions are unconnected:
 * /rosout:
   * /rosout

roswtf发出警告说/rosout节点订阅了一个没有节点向其发布的话题。在本例中，这正是所期望看到的，因为除了roscore没有任何其它节点在运行，所以我们可以忽略这些警告。

3 报告错误