ROS 常用命令字典

$ 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>