使用方法
ROS使用
ROS 提供了一些实用的命令行工具，可以用于获取不同节点的各类信息，常用的命令如下:
- rosnode : 操作节点
- rostopic : 操作话题
- rosservice : 操作服务
- rosmsg : 操作msg消息
- rossrv : 操作srv消息
- rosparam : 操作参数
另请参考:
http://wiki.ros.org/ROS/CommandLineTools
ROS2使用
# 命令help
[root@openEuler ~]# ros2 --help
usage: ros2 [-h] Call `ros2 <command> -h` for more detailed usage. ...
ros2 is an extensible command-line tool for ROS 2.
optional arguments:
-h, --help show this help message and exit
Commands:
action Various action related sub-commands
bag Various rosbag related sub-commands
component Various component related sub-commands
daemon Various daemon related sub-commands
doctor Check ROS setup and other potential issues
interface Show information about ROS interfaces
launch Run a launch file
lifecycle Various lifecycle related sub-commands
multicast Various multicast related sub-commands
node Various node related sub-commands
param Various param related sub-commands
pkg Various package related sub-commands
run Run a package specific executable
security Various security related sub-commands
service Various service related sub-commands
test Run a ROS2 launch test
topic Various topic related sub-commands
trace Trace ROS nodes to get information on their execution
wtf Use `wtf` as alias to `doctor`
Call `ros2 <command> -h` for more detailed usage.
注意事项
- 新打开终端需要执行“source /opt/ros/foxy/local_setup.bash”或“source /opt/ros/noetic/setup.bash”命令。
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