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該文適合已經具備必定的ROS編程基礎的人,快速查看ROS相關指令.
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$ roscore
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace
$ cd ~/catkin_ws
$ catkin_make
$ echo "source catkin_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc
$ cd ~/catkin_ws/src
$ catkin_create_pkg <package_name> [depend1] [depend2] [depend3]
$ cd ~/catkin_ws
$ catkin_make
$ rospack find [package name]
$ rospack depends <package_name>
$ rospack depends1 <package_name>
$ rosnode list
$ rosnode info [node_name]
$ rosrun [package_name] [node_name] [__name:=new_name]
$ rostopic -h
$ rostopic list
$ rosrun rqt_graph rqt_graph
$ rosrun rqt_plot rqt_plot
$ rostopic echo [topic]
$ rostopic type [topic]
$ rosmsg show [msg_type]
$ rostopic pub [-1] <topic> <msg_type> [-r 1] -- [args] [args]
$ rosservice -h
$ rosservice list
$ rosservice call [service] [args]
$ rosservice type [service] | rossrv show
$ rosparam set [parame_name] [args] + rosservice call clear
$ rosparam get [parame_name]
$ rosparam load [file_name] [namespace]
$ rosparam delete
$ rosbag record -a
$ rosbag record -O subset <topic1> <topic2>
$ rosbag info <bagfile_name>
$ rosbag play (-r 2) <bagfile_name>
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