【ROS教程】ROS常用命令

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1.rosnode

1.1 rosnode ping

1.1.1 测试所有节点的连接状态

rosnode ping --all

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

rosnode ping /<node-name>

• 注意斜杠

1.2 rosnode list

rosnode list

• 列出活动节点列表

1.3 rosnode info

rosnode info /<node-name>

• 查看某个节点信息

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

rosnode machine

xu736946693@ubuntu:~/Desktop/ROS-exercise/src$ rosnode machine
ubuntu

1.4.2 查看指定设备上的运行节点

rosnode machine <machine-name>

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

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

rosnode kill

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

rosnode kill /<node-name>

1.6 rosnode cleanup

rosnode cleanup

• 清理不可连接的节点进程

2.rostopic

2.1 rostopic echo

rostopic echo /<topic-name>

• 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

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

rostopic info /<topic-name>

• 列出某个话题的有关信息

2.4 rostopic type

rostopic type /<topic-name>

• 列出某个话题所发布的消息类型

2.5 rostopic find

rostopic find <package-name>/<message-name>

• 根据消息类型寻找话题

2.6 rostopic bw

rostopic bw /<topic-name>

• 显示某个话题的带宽

2.7 rostopic delay

rostopic delay /<topic-name>

• 显示带有header的话题延迟

2.8 rostopic hz

rostopic hz /<topic-name>

• 显示某个话题的发布频率

3.rosmsg

3.1 rosmsg show

rosmsg show /<message-type>

• 显示某个消息类型的定义

• 可选参数

-r：Display the raw msg definition.

xu736946693@ubuntu:~/Desktop/ROS-exercise/src$ rosmsg show -r std_msgs/String
string data

3.2 rosmsg packages

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

rosmsg package /<package-name>

• 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

rosmsg users /<message-type>

• 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

rosservice args /<service-name>

• 显示某个服务中的请求的参数

4.2 rosservice list

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

rosservice info <service-name>

• 打印有关服务的信息

4.4 rosservice find

rosservice find <package-name>/<service-type>

• 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

rosservice type <service-type>

• 根据服务的名称，给出服务的类型

5. rossrv

5.1 rossrv show

rossrv show <package-name>/<service-name>

• 显示某个服务的定义

5.2 rossrv packages

rossrv packages

• 列出包含服务的所有包

5.3 rossrv package

rossrv package /<package-name>

• 列出某个包下的所有服务

6.rosparam

6.1 rosparam list

rosparam list

• 列出所有参数

6.2 rosparam set

rosparam set <parameter-name> [parameter-value]

• 设置参数

6.3 rosparam get

rosparam get <parameter-name>

• 获取参数的值

6.4 rosparam delete

rosparam delete <parameter-name>

• 删除参数

6.5 rosparam load

rosparam load <yaml-file>

• 从外部文件加载参数，先准备yaml文件

6.6 rosparam dump

rosparam dump <yaml-file>

• 将参数写出到外部文件