目录
Configuring environment
source /opt/ros/foxy/setup.bash
echo “source /opt/ros/foxy/setup.bash” >> ~/.bashrc
printenv | grep -i ROS
Using turtlesim, ros2, and rqt
ros2 pkg executables
rqt
Understanding nodes
ros2 node list
ros2 run
ros2 node info
Understanding topics
rqt_graph
ros2 topic list
ros2 topic echo
ros2 topic info
ros2 interface show
ros2 topic pub
ros2 topic hz
Understanding services
ros2 service list
ros2 service type
ros2 service find
ros2 interface show
ros2 service call
Understanding parameters
ros2 param list
ros2 param get
ros2 param set
ros2 param dump
ros2 param load
ros2 run <package_name> <executable_name> –ros-args –params-file <file_name>
Understanding actions
ros2 node info
ros2 action list
ros2 action list -t
ros2 action info
ros2 interface show
ros2 action send_goal
Using rqt_console to view logs
ros2 run rqt_console rqt_console
Launching nodes
ros2 launch
Recording and playing back data
ros2 bag record
ros2 bag info
ros2 bag play