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ROS学习_基础
2022-07-06 06:43:00 【Leslie X徐】
ROS命令行工具使用
一、常用命令
- roscore :启动ros
- rosrun :
rosrun [package_name] [node_name]
调用节点 参数为功能包名和节点名称 - rosnode :
rosnode list
列出当前运行的节点 - rqt_graph :可视化当前运行的节点
- rostopic :进行话题的操作
rostopic pub
:发布话题消息rostopic type
:查看消息类型
- rosservice :进行服务的操作
rosservice call
:发布服务请求
- rosparam
- rosmsg :获取消息的详细信息
- rossrv
二、示例:海龟仿真
启动ROS Master:
$roscore
启动海龟仿真器:
$rosrun turtlesim turtlesim_node
启动海龟控制节点:
$rosrun turtlesim turtle_teleop_key
注意:这三个命令分别在三个终端执行。运行
三、发布话题消息
发布消息 让海龟一直移动。
- 先查看消息类型
~$ rostopic type /turtle1/cmd_vel
geometry_msgs/Twist
~$ rosmsg show geometry_msgs/Twist
geometry_msgs/Vector3 linear
float64 x
float64 y
float64 z
geometry_msgs/Vector3 angular
float64 x
float64 y
float64 z
- 编写参数
~$ rostopic pub -r 10 /turtle1/cmd_vel geometry_msgs/Twist " linear: x: 1.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0 "
注意:参数对齐
- 运行
四、发布服务请求
发布服务请求,添加新的海龟。
- 查看请求信息
~$ rosservice info /spawn
Node: /turtlesim
URI: rosrpc://ros2go:39063
Type: turtlesim/Spawn
Args: x y theta name
- 发布请求
~$ rosservice call /spawn " x: 5.0 y: 5.0 theta: 0.0 name: 'turtle2' "
name: "turtle2"
- 运行
五、话题和服务的区别
- 话题 (Topic)
- 节点间的异步通信机制
- 使用 发布/订阅 模型
- 话题数据:消息(Message) 文件格式
.msg
- 服务 (Service)
- 节点间的同步通信机制
- 使用 客户端/服务器(C/S) 模型
- 数据:文件格式
.srv
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