# 【ROS教程】ROS常用命令 @[TOC](https://github.com/UnderTurrets/notes/blob/master/ROS/%E6%96%87%E7%AB%A0%E7%9B%AE%E5%BD%95/README.md) *** ## 1.rosnode ### 1.1 rosnode ping #### 1.1.1 测试所有节点的连接状态 ```shell rosnode ping --all ``` ```shell xu736946693@ubuntu:~/Desktop/ROS-exercise/src$ rosnode ping --all Will ping the following nodes: * /server * /rosout pinging /server with a timeout of 3.0s xmlrpc reply from http://ubuntu:40279/ time=6.225109ms pinging /rosout with a timeout of 3.0s xmlrpc reply from http://ubuntu:39377/ time=5.535603ms ``` #### 1.1.2 测试到某个节点的连接状态 ```shell rosnode ping / ``` * 注意**斜杠** ### 1.2 rosnode list ```shell rosnode list ``` * 列出活动节点列表 ### 1.3 rosnode info ```shell rosnode info / ``` * 查看某个节点信息 ```shell xu736946693@ubuntu:~/Desktop/ROS-exercise/src$ rosnode info /server -------------------------------------------------------------------------------- Node [/server] Publications: * /rosout [rosgraph_msgs/Log] Subscriptions: None Services: * /AddInt * /server/get_loggers * /server/set_logger_level contacting node http://ubuntu:40279/ ... Pid: 3729 Connections: * topic: /rosout * to: /rosout * direction: outbound (59927 - 127.0.0.1:41752) [11] * transport: TCPROS ``` ### 1.4 rosnode machine #### 1.4.1 列出所有设备 ```shell rosnode machine ``` ```shell xu736946693@ubuntu:~/Desktop/ROS-exercise/src$ rosnode machine ubuntu ``` #### 1.4.2 查看指定设备上的运行节点 ```shell rosnode machine ``` ```shell xu736946693@ubuntu:~/Desktop/ROS-exercise/src$ rosnode machine ubuntu /rosout /server ``` ### 1.5 rosnode kill #### 1.5.1 结束所有节点进程 ```shell rosnode kill --all ``` #### 1.5.2 列出所有节点并选择要结束进程的那个节点 ```shell rosnode kill ``` ```shell xu736946693@ubuntu:~/Desktop/ROS-exercise/src$ rosnode kill 1. /rosout 2. /server Please enter the number of the node you wish to kill. > 2 killing /server killed ``` #### 1.5.3 结束一个节点进程 ```shell rosnode kill / ``` ### 1.6 rosnode cleanup ```shell rosnode cleanup ``` * 清理不可连接的节点进程 ## 2.rostopic ### 2.1 rostopic echo ```shell rostopic echo / ``` * 监听某个话题的消息并显示 * 可选参数 `--offset`：Display time in messages as offset from current time (e.g. to calculate lag/latency). `-c`：Clear the screen after each message is published. Cannot be used with -p. `-b`：Display messages in a bag file: ### 2.2 rostopic list ```shell rostopic list ``` * 列出所有活动状态下的主题 * 可选参数： `-b`：List topics in a bag file. `-p`：List only publishers. `-s`：List only subscribers. ### 2.3 rostopic info ```shell rostopic info / ``` * 列出某个话题的有关信息 ### 2.4 rostopic type ```shell rostopic type / ``` * 列出某个话题所发布的消息类型 ### 2.5 rostopic find ```shell rostopic find / ``` * 根据消息类型寻找话题 ### 2.6 rostopic bw ```shell rostopic bw / ``` * 显示某个话题的带宽 ### 2.7 rostopic delay ```shell rostopic delay / ``` * 显示带有header的话题延迟 ### 2.8 rostopic hz ```shell rostopic hz / ``` * 显示某个话题的发布频率 ## 3.rosmsg ### 3.1 rosmsg show ```shell rosmsg show / ``` * 显示某个消息类型的定义 * 可选参数 `-r`：Display the raw msg definition. ```shell xu736946693@ubuntu:~/Desktop/ROS-exercise/src$ rosmsg show -r std_msgs/String string data ``` ### 3.2 rosmsg packages ```shell rosmsg packages ``` * 列出包含消息的所有包 * 可选参数 `-s`：Display all packages on a single line. Useful for backtick invocations. ### 3.3 rosmsg package ```shell rosmsg package / ``` * 列出某个包下的所有消息类型 * 可选参数 `-s`：Display all packages on a single line. Useful for backtick invocations. ### 3.4 rosmsg users ```shell rosmsg users / ``` * 寻找所有使用了某个消息类型的源代码文件 ## 4.rosservice ### 4.1 rosservice args ```shell rosservice args / ``` * 显示某个服务中的请求的参数 ### 4.2 rosservice list ```shell rosservice list ``` * 列出所有活动的服务 * 可选参数： `-n`：Include the name of the node that implements the service. ### 4.3 rosservice info ```shell rosservice info ``` * 打印有关服务的信息 ### 4.4 rosservice find ```shell rosservice find / ``` * 按照某个服务的类型去寻找包含此类型的服务的名称 ### 4.5 rosservice type ```shell rosservice type ``` * 根据服务的名称，给出服务的类型 ## 5. rossrv ### 5.1 rossrv show ```shell rossrv show / ``` * 显示某个服务的定义 ### 5.2 rossrv packages ```shell rossrv packages ``` * 列出包含服务的所有包 ### 5.3 rossrv package ```shell rossrv package / ``` * 列出某个包下的所有服务 ## 6.rosparam ### 6.1 rosparam list ```shell rosparam list ``` * 列出所有参数 ### 6.2 rosparam set ```shell rosparam set [parameter-value] ``` * 设置参数 ### 6.3 rosparam get ```shell rosparam get ``` * 获取参数的值 ### 6.4 rosparam delete ```shell rosparam delete ``` * 删除参数 ### 6.5 rosparam load ```shell rosparam load ``` * 从外部文件加载参数，先准备yaml文件 ### 6.6 rosparam dump ```shell rosparam dump ``` * 将参数写出到外部文件 --- # Agent Instructions: Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. 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