roscore
roscore is a collection of nodes and programs that are pre-requisites of a ROS-based system. You must have a roscore running in order for ROS nodes to communicate. It is launched using the roscore command.
NOTE: If you use roslaunch, it will automatically start roscore if it detects that it is not already running (unless the --wait argument is supplied).
roscore will start up:
- ROS Master
- a ROS Parameter Server
- a rosout logging node
common use(random port)
roscore
design port
export ROS_MASTER_URI=http://YourPC:1234/
roscore -p 1234
roslaunch
启动ROS节点，可以是多个
roslaunch [package] [filename.launch]
<launch>
<group ns="turtlesim1">
<node pkg="turtlesim" name="sim" type="turtlesim_node"/>
</group>
<group ns="turtlesim2">
<node pkg="turtlesim" name="sim" type="turtlesim_node"/>
</group>
<node pkg="turtlesim" name="mimic" type="mimic">
<remap from="input" to="turtlesim1/turtle1"/>
<remap from="output" to="turtlesim2/turtle1"/>
</node>
</launch>
在这里我们启动模仿节点，并将所有话题的输入和输出分别重命名为turtlesim1和turtlesim2，这样就会使turtlesim2模仿turtlesim1。
rosrun
启动一个节点，多个节点需要多次运行
rosrun [package_name] [node_name]
rosnode
ros的节点信息
rosnode list 显示了正在运行的ros的节点
rosnode info /node-name 显示指定节点信息
rosnode ping node-name ping节点
rosservice
rosservice list 输出可用服务的信息
rosservice call 调用带参数的服务
rosservice type 输出服务类型
rosservice find 依据类型寻找服务find services by service type
rosservice uri 输出服务的ROSRPC uri
rosparam
rosparam set 设置参数
rosparam get 获取参数
rosparam load 从文件读取参数
rosparam dump 向文件中写入参数
rosparam delete 删除参数
rosparam list 列出参数名
rosbag
rosbag record 用指定的话题录制一个 bag 包
rosbag info 显示一个 bag 包的基本信息，比如包含哪些话题
rosbag play 回放一个或者多个 bag 包
rosbag check 检查一个 bag 包在当前的系统中是否可以回放和迁移
rosbag compress 压缩一个或多个 bag 包
rosbag decompress 解压缩一个或多个 bag 包
rosbag reindex 重新索引一个或多个损坏 bag 包
rostopic
rostopic bw display bandwidth used by topic
rostopic delay display delay for topic which has header
rostopic echo print messages to screen
rostopic find find topics by type
rostopic hz display publishing rate of topic
rostopic info print information about active topic
rostopic list print information about active topics
rostopic pub publish data to topic
rostopic type print topic type