7、 Common commands of ROS (II): rosservice, rossrv, rosparam

1、rosservice: List and query related services

1. rosservice list

• List all activities service
• Return results ：

  rosservice list
  /add_int
  /rosout/get_loggers
  /rosout/set_logger_level
  /server/get_loggers
  /server/set_logger_level
  

2. rosservice args service name

• Print service parameters
• Return results ：

  rosservice args add_int
  num1 num2
  

3. rosservice call service name Parameters 1 Parameters 2

• Call the service
• Return results ：

  rosservice call add_int 12 12
  sum: 24
  

4. rosservice find Package name / Message type

• Get topics according to the message type
• Return results ：

  rosservice find server_client/add 
  /add_int
  

5. rosservice info service name

• Get service topic details
• Return results ：

  rosservice info add_int
  Node: /server
  URI: rosrpc://d102-W65KJ1-KK1:50671
  Type: server_client/add
  Args: num1 num2
  

6. rosservice uri service name

• Get server uri
• Return results ：

  rosservice uri add_int
  rosrpc://d102-W65KJ1-KK1:50671
  

7. rosservice type service name

• Get message type
• Return results ：

  rosservice type add_int
  server_client/add
  

2、rossrv: Show ros Commands related to service type message information

1. rossrv list （| grep -i Package name / Search name ）

• List all srv news , Add the contents in brackets , You can display the message types in a package , Add the search name , You can display related packages containing the search name
• Return results

  rossrv list 
  control_msgs/QueryCalibrationState
  control_msgs/QueryTrajectoryState
  control_toolbox/SetPidGains
  controller_manager_msgs/ListControllerTypes
  

   Retrieval function ：
  rossrv list | grep -i add
  diagnostic_msgs/AddDiagnostics
  rospy_tutorials/AddTwoInts
  server_client/add
  topic_tools/DemuxAdd
  topic_tools/MuxAdd
  

  rossrv list | grep -i server_client
  server_client/add
  

2. rossrv packages

• List all packages that contain service messages
• Return results ：

  rossrv packages
  control_msgs
  control_toolbox
  controller_manager_msgs
  

3. rossrv package Package name

• List all under a package msg
• Return results ：

  rossrv package server_client 
  server_client/add
  

4. rossrv show Data type name

• Displays the message description
• Return results ：

  rossrv show add
  [server_client/add]:
  int32 num1
  int32 num2
  ---
  int32 sum
  

5. rossrv info Data type name

• Displays the message description
• Return results ：

  rossrv info add
  [server_client/add]:
  int32 num1
  int32 num2
  ---
  int32 sum
  

6. rossrv md5

• Unknown
• Return results ：

3、rosparam: Parameter server related parameter operations , Inquire about

1. rosparam list

• List all parameters
• Return results ：

  osparam list
  /nh_bool
  /nh_double
  /nh_int
  /nh_int_param
  

2. rosparam set key value

• Set parameters , Some words , To cover , If not , Carry out new construction
• Return results ：

  rosparam set nh_int 10
  

3. rosparam get key

• Get key value
• Return results ：

  rosparam get nh_int
  10
  

4. rosparam delete key

• Delete parameters
• Return results ：

  rosparam delete nh_int
  

5. rosparam load xxx.yaml

• Load parameters
• Return results ：

  rosparam load test.yaml
  

6. rosparam dump xxx.yaml

• Write out the parameters to an external file
• Return results ：

  rosparam dump test.yaml