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  • ros命令

    ros命令琐记://ubuntu14.04:Trusty , indigo.

    1.rosrun rqt_graph rqt_graph

    2.rosrun rqt_console rqt_console

    3.rosrun rqt_logger_level rqt_logger_level  

    4.rosrun rqt_robot_monitor rqt_robot_monito

    5.rosrun tf view_frames

    6.rosrun rqt_plot rqt_plot

    7.rosrun map_server map_saver mymap.yaml

    8.To find available packages, use:
       apt-cache search ros-indigo
       apt-cache search othername

    9. Rebuilding a Single catkin Package
    If you update a single package in your catkin workspace and want to re-build just that package, use the following variation of catkin_make :
    $ cd ~/catkin_ws
    $ catkin_make --pkg package_name

    一.配置环境:

          如果在查找和使用ROS软件包方面遇到问题,请检查是否正确配置了脚本环境,方法:

      $ export | grep ROS

      declare -x ROSLISP_PACKAGE_DIRECTORIES=""
      declare -x ROS_DISTRO="indigo"
      declare -x ROS_ETC_DIR="/opt/ros/indigo/etc/ros"
      declare -x ROS_MASTER_URI="http://localhost:11311"
      declare -x ROS_PACKAGE_PATH="/opt/ros/indigo/share:/opt/ros/indigo/stacks"
      declare -x ROS_ROOT="/opt/ros/indigo/share/ros"

      如果发现没有配置,侧需要source某些setup.*sh文件,如:

      source /opt/ros/indigo/setup.bash

    二.创建工作空间

    下面创建一个catkin工作空间:

    $ mkdir -p ~/catkin_ws/src

    $ cd ~/catkin_ws/src

    $ cd ~/catkin_ws/

    $ catkin_make

    $ source devel/setup.bash

    三.ROS文件系统工具

    rospack

    $ rospack find [包名称]

    例如:rospack find roscpp

    roscd

    $ roscd roscpp

    注:roscd只能切换到那些路径已经包含在ROS_PACKAGE_PATH环境变量中的软件包,查看ROS_PACKAGE_PATH的路径的方法:$ echo $ROS_PACKAGE_PATH

    $ roscd log

    rosls

    TAB自动完成输入

    四.创建ROS程序包

       catkin程序包的组成:CMakelists.txt文件,package.xml文件(包及依赖关系)

    catkin_create_pkg <package_name> [depend1] [depend2] [depend3]
    例如:catkin_create_pkg beginner_tutorials std_msgs rospy roscpp

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  • 原文地址:https://www.cnblogs.com/cj2014/p/3889455.html
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