Skip to content

Latest commit

 

History

History
93 lines (74 loc) · 4.22 KB

Useful ROS Commands.md

File metadata and controls

93 lines (74 loc) · 4.22 KB

Useful ROS Commands

Running ROS

  • roscore: run master node

    • roscore

  • rosrun: run node

    • rosrun [package] [executable]
      • rosrun rqt_graph rqt_graph: create node/publisher/subscriber graph
      • rosrun rqt_plot rqt_plot: creates a live graph of data being published
      • rosrun rqt_console rqt_console: shows interface for viewing log messages
      • rosrun rqt_logger_level rqt_logger_level
    • rosrun [package] [executable] __name:=[name]

  • rosbridge:

    • roslaunch rosbridge_server rosbridge_websocket.launch

  • rosnode: operations on a nodes

    • rosnode list
      • rosnode list -v: includes the message type used by the topic
    • rosnode info [node]
    • rosnode kill [node]
    • rosnode cleanup
    • rosnode ping: checks that a rosnode is still alive

  • rostopic: operations on topics.

    • rostopic list
    • rostopic echo [topic]
    • rostopic info [topic]
    • rostopic hz [topic]: publish rate (Hertz)
    • rostopic bw [topic]: bandwidth consumption
    • rostopic pub -1 [topic] [message-type] [arguments]: publishes message once
      • Hit TAB after typing message-type to get message template. Edit the template afterwards.
      • -- is necessary before the [arguments] section if the arguments themsevles have dashes (eg. negative numbers)
    • rostopic pub -l [rate] [topic] [message-type] [arguments]: latched mode - ensures new subscribers will receive this message.
    • rostopic pub -r [rate] [topic] [message-type] [arguments]: rate mode - repeatedly sends message at certain rate.
    • rostopic pub -f [topic] [message-type] [filename]: read messages from file

  • rosservice: operations on services.

    • rosservice list
    • rosservice type [service-name]: gives the message type of the service
    • rosservice info [service-name]
    • rosservice node [service-name]: finds the node that offers that service.
    • rosservice call [service-name] ([arguments])

  • rossrv: inspecting service data types (operates on .srv files associated with services, not the services themselves)

    • rossrv show [service datatype]

  • rosbag: recording messages and replaying them

    • rosbag record -O [filename].bag [topics]: records topics into bag.
      • Without [filename].bag, ROS will automatically name the file.
      • Replacing [topics] with -a will record every topic published.
      • Add -j for compression.
    • rosbag play [filename].bag: play the bag file back.
    • rosbag info [filename].bag

  • rosmsg: operations on ros message type

    • rosmsg show [message-type]

  • rosparam: dealing with parameters

    • rosparam list: lists out all parameter keys
    • rosparam get [param_name]: gets the value of parameter with key [param_name]
    • rosparam set [param_name] [value]: sets the value of parameter with key [param_name]
    • rosparam dump [file_name] ([namespace]): stores all current parameters into file. If namespace not provided then all namespaces are included.
    • rosparam load [file_name] ([namespace]): loads all current parameters into file. If namespace not provided then all namespaces are included.

Dealing With Packages

  • ropsack: operations on packages

    • rospack list
    • rospack find [package]
    • rospack depends([n-level]) [package]: Finds the dependencies of a package within the n'th level.
      • Performs a fully recursive search if [n-level] is not provieded.

  • rosls: list directory of package

    • rosls [package/subdirectories]: lists content of package or package's subdirectory (with path relative to package root folder).

  • roscd: change into package directory

    • roscd [package]
    • roscd log: changes directories to the folder where ROS logs are stored

  • catkin_create_pkg: create a package. should be run in src directory of worksapce.

    • catkin_create_pkg [package]

  • rospack:

    • rospack find [package_name]: finds the directory that encloses a package name

  • catkin_create_pkg: creates package

    • catkin_create_pkg [package_name] ([dependency1] [dependency2] ...)

  • catkin_make: builds the current workspace (current directory)

    • catkin_make --source my_src: usually it expects the source files to be in the /src folder of the workspace. If not then you can specify source files subdirectory using the --source option.