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