ROSWIKI官网学习资料整理_roswiki

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ROS 官网学习资料整理 1-初级阶段

Version：1.0；Date：20140430；Author：LiGaofeng，NKU

目录 ................................................................................................................................................................. 1

一、基本命令 ................................................................................................................................................. 3

二、创建一个 WorkSpace .............................................................................................................................. 3

三、创建一个 Package ................................................................................................................................... 3

3.1 一个包的组成 .................................................................................................................................. 3

3.2 包与 catkin WorkSpace 空间关系 ................................................................................................... 3

3.3 创建一个 catkin Package ................................................................................................................. 4

3.4 包的依赖 .......................................................................................................................................... 5

3.4.1 First-order dependencies ........................................................................................................ 5

3.4.2.Indirect dependencies ............................................................................................................. 5

3.5 定制自己的包 .................................................................................................................................. 5

3.5.1 认识 package.xml 文件各部分含义 ..................................................................................... 5

四、编译一个 ROS 包 .................................................................................................................................... 6

4.1 Building Packages ............................................................................................................................. 6

五、理解 ROS 节点 ........................................................................................................................................ 6

5.1 熟悉如下几个概念 .......................................................................................................................... 7

5.2 Client Libraries .................................................................................................................................. 7

5.3 roscore ............................................................................................................................................... 7

5.4 开始使用 rosnode ............................................................................................................................ 8

5.5 用 rosrun. .......................................................................................................................................... 9

六、理解 ROS 中的 Topics ........................................................................................................................... 10

6.1 键盘遥控乌龟 ................................................................................................................................ 11

6.2 ROS Topics...................................................................................................................................... 11

6.3 介绍 rostopic .................................................................................................................................. 12

6.3.1 rostopic echo ........................................................................................................................ 12

6.3.2 rostopic list ........................................................................................................................... 13

6.4 ROS Messages................................................................................................................................. 13

6.4.1 用 rostopic type ................................................................................................................... 14

6.4.2 用 rostopic pub 命令 ........................................................................................................... 15

6.4.3 用 rostopic hz 命令 ............................................................................................................. 16

七、理解 ROS 中的 Services 和 Parameters ................................................................................................ 18

7.1 ROS Services................................................................................................................................... 18

7.2 用 rosservice 命令 .......................................................................................................................... 18

7.2.1 rosservice list ........................................................................................................................ 19

7.2.2 rosservice type ...................................................................................................................... 19

7.2.3 rosservice call ....................................................................................................................... 20

7.3 用 rosparam .................................................................................................................................... 21

7.3.1 rosparam list ......................................................................................................................... 21

7.3.2 rosparam set 和 get 命令 ...................................................................................................... 21

7.3.3 rosparam dump 和 rosparam load 命令 ............................................................................... 23

八、使用 rqt_console 和 roslaunch ............................................................................................................. 24

8.1 安装 rqt 和 turtlesim 包。 ............................................................................................................. 24

8.2 rqt_console 和 rqt_logger_level 的用法 ......................................................................................... 24

ROS 官网学习资料整理 1-初级阶段

Version：1.0；Date：20140430；Author：LiGaofeng，NKU

8.2.1 关于 logger 的输出等级。 ................................................................................................. 26

8.2.2 roslaunch 的用法 ................................................................................................................. 27

8.2.3 roslaunching ......................................................................................................................... 27

九、用 rosed 编辑文件 ................................................................................................................................ 29

9.1 rosed 的使用 ................................................................................................................................... 29

9.2 用 tab 键编辑一个包下的所有文件。 ......................................................................................... 30

9.3 Editor ............................................................................................................................................... 30

十、创建一个 ROS msg 和 srv ..................................................................................................................... 31

10.1 msg 和 srv 介绍 ............................................................................................................................ 31

10.2 msg ................................................................................................................................................ 32

10.2.1 创建一个 msg ................................................................................................................... 32

10.2.2 使用 rosmsg ...................................................................................................................... 33

10.3 使用 srv ........................................................................................................................................ 34

10.3.1 创建一个 srv ..................................................................................................................... 34

10.3.2 使用 rossrv ........................................................................................................................ 35

10.4 msg 和 srv 的一般步骤 ................................................................................................................ 35

10.5 一些帮助工具 .............................................................................................................................. 37

十一、写一个简单的发布者 Publisher 和订阅者（Subscriber）(C++语言)............................................. 37

11.1 写一个 Publisher 节点 ................................................................................................................. 37

11.2 写一个 Subscriber 节点。 ........................................................................................................... 39

11.3 编译你的节点 .............................................................................................................................. 40

十二、测试发布节点和订阅节点。 ........................................................................................................... 41

12.1 运行 Publisher .............................................................................................................................. 41

12.2 运行 Subscriber ............................................................................................................................ 42

十三、写一个简单的 Service 和 Client ....................................................................................................... 42

13.1 写一个 Service 节点 .................................................................................................................... 42

13.2 写一个 Client 节点 ...................................................................................................................... 43

13.3 编译你的节点 .............................................................................................................................. 44

十四、测试 Service 和 Client ....................................................................................................................... 45

14.1 运行 Service（记得先运行 roscore） ........................................................................................ 45

14.2 运行 Client ................................................................................................................................... 45

十五、记录数据以及回复数据 ................................................................................................................... 46

15.1 记录数据（创建 bag 文件） ...................................................................................................... 46

15.1.1 记录所有发布的 topics .................................................................................................... 46

15.2 查看 bag 文件及 playing bag 文件.............................................................................................. 47

15.3 记录数据的一部分 ...................................................................................................................... 48

十六、roswtf 的使用 ................................................................................................................................... 48

剩余47页未读，继续阅读

afeigo

2019-06-27

谢谢整理，值得参考看一看。

o_ha_yo_yepeng

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