ROS_ Rqt toolbox

Preface ：

stay ROS in , Provides rqt hold-all , stay When calling tools, graphical operations are used instead of command operations , Application is more convenient .

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One · Installation and basic use

Call the command

$ sudo apt-get install ros-noetic-rqt
$ sudo apt-get install ros-noetic-rqt-common-plugins

Use before starting ROSCORE

start-up rqt hold-all

  Both the first and the second are ok , The results are the same

Plug in of menu basket , It is the plug-in we usually use  

  The operation sample ：

1. First, start the tortoise

2. Control tortoise movement

 

In it, we can adjust our value , Then check enable  

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rqt Common plug-ins :rqt_graph

brief introduction : Visual display of calculation diagram

1. preparation ：

Start the tortoise following case used before （pub control Tortoise formation launch node CMakeList To configure ）

  start-up rqt

Open the plug-in

 

 

  This will show our nodes , topic of conversation , And their sequential process

rqt Common plug-ins :rqt_console

brief introduction :rqt_console yes ROS Graphical plug-in for displaying and filtering logs in

  This is to view the release information under the terminal , It can also be opened rqt see

You can filter information

rqt_plot

brief introduction : Graphics drawing plug-in , We can use 2D The way of drawing is published in topic The data on the

1. Start tortoise

open rqt