ROS kinetic 启动小海龟仿真程序
[email protected]:~$ roscore
启动小海龟仿真器节点
[email protected]:~$ rosrun turtlesim turtlesim_node
启动小海龟键盘控制节点
[email protected]:~$ rosrun turtlesim turtle_teleop_key
说明
turtlesim - 功能包名称
turtlesim_node - 节点的名称，是在功能包turtlesim 下面
启动计算图节点
[email protected]:~$ rqt_graph
查看当前系统启动的所有节点
[email protected]:~$ rosnode list
/rosout
/rqt_gui_py_node_6138
/teleop_turtle
/turtlesim
[email protected]:~$ rosnode info /turtlesim
--------------------------------------------------------------------------------
Node [/turtlesim] 节点的名字
Publications: 该节点所发布的话题
* /rosout [rosgraph_msgs/Log]
* /turtle1/color_sensor [turtlesim/Color]
* /turtle1/pose [turtlesim/Pose]
Subscriptions: 该节点订阅的话题
* /turtle1/cmd_vel [geometry_msgs/Twist]
Services: 该节点使用的服务
* /clear
* /kill
* /reset
* /spawn
* /turtle1/set_pen
* /turtle1/teleport_absolute
* /turtle1/teleport_relative
* /turtlesim/get_loggers
* /turtlesim/set_logger_level
contacting node http://vm:41749/ ...
Pid: 5111 节点的ID号
Connections:
* topic: /rosout
* to: /rosout
* direction: outbound
* transport: TCPROS 通信协议
* topic: /turtle1/cmd_vel
* to: /teleop_turtle (http://vm:43869/)
* direction: inbound
* transport: TCPROS
查看系统中发布和订阅的话题
[email protected]:~$ rostopic list
/rosout
/rosout_agg
/statistics
/turtle1/cmd_vel
/turtle1/color_sensor
/turtle1/pose
查看话题的信息
[email protected]:~$ rostopic info /turtle1/cmd_vel
Type: geometry_msgs/Twist
Publishers: 发布者是 /teleop_turtle
* /teleop_turtle (http://vm:43869/)
Subscribers: 订阅者是 /turtlesim 节点
* /turtlesim (http://vm:41749/)
监听话题信息
[email protected]:~$ rostopic echo /turtle1/cmd_vel
linear: 线速度的单位是 m/s
x: 2.0
y: 0.0
z: 0.0
angular: 角速度的单位是 rad/s
x: 0.0
y: 0.0
z: 0.0
[email protected]:~$ rostopic pub /turtle1/cmd_vel geometry_msgs/Twist "linear:
x: 2.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0" 只能发布一次
publishing and latching message. Press ctrl-C to terminate
[email protected]:~$ $ rostopic pub -r 10 turtle1/cmd_vel geometry_msgs/Twist "linear:
x: 2.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0" 以1s中10Hz的频率发布话题
查看系统中的服务
[email protected]:~$ rosservice list
/clear
/kill
/reset
/rosout/get_loggers
/rosout/set_logger_level
/rostopic_7788_1524147136200/get_loggers
/rostopic_7788_1524147136200/set_logger_level
/rqt_gui_py_node_6138/get_loggers
/rqt_gui_py_node_6138/set_logger_level
/spawn
/teleop_turtle/get_loggers
/teleop_turtle/set_logger_level
/turtle1/set_pen
/turtle1/teleport_absolute
/turtle1/teleport_relative
/turtlesim/get_loggers
/turtlesim/set_logger_level
查看服务的信息
[email protected]:~$ rosservice info /spawn
Node: /turtlesim
URI: rosrpc://vm:42961
Type: turtlesim/Spawn
Args: x y theta name
新增一只海龟
[email protected]:~$ rosservice call /spawn "x: 3.0
y: 2.0
theta: 0.0
name: ''" 新增一只海龟的位置在 3.0 2.0 的位置，名字由系统分配
name: "turtle2"
[email protected]:~$ rqt_plot