ROS tools in Linux by command line

Linux operating system ROS
ROS
Publish Date:   2022-05-29
Update Date:   2023-03-28
Word Count:   248
Read Times:   1 Min
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ROS tools in Linux

1. open Turtlesim

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roscore # start the ROS Master
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rosrun turtlesim turtlesim_node # start the turtlesim
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rosrun turtlesim turtle_teleop_key # start turtle control node

image-20220529151250691

2. rqt_graph

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rqt_graph

image-20220529151602659

  • /turtlesim node is a simple simulator for teaching ROS concepts.
  • teleop_turtle node
  • /turtle1/cmd_vel topic

3. rosnode list

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rosnode list # show the current nodes

image-20220529173940604

3. rosnode info

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rosnode info somenode # check somenode's information

image-20220529181619612

4. rostopic list

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rostopic list # show the current topic

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5. rostopic pub

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rostopic pub /turtle1/cmd_vel #

click tab button twice 

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rostopic pub /turtle1/cmd_vel geometry_msgs/Twist "linear: 
  x: 0.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0"

image-20220529182504985

  • we can find turtle move
  • but only move once
  • it is because pub instruction only publish one time
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rostopic pub -r 10 /turtle1/cmd_vel geometry_msgs/Twist "linear:
  x: 1.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0"

add -r 10 after pub,

  • -r means rate,
  • 10 means 10 times per second

image-20220529182826228

6. rosmsg show

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rosmsg show geometry_msgs/Twist

image-20220529184730763

7. rosservice list

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rosservice list # show all service

image-20220529185604586

8. rosservice call

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rosservice call /spawn

click tab for 2 times

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rosservice call /spawn "x: 2.0
y: 2.0
theta: 0.0
name: 'turtle2'"

image-20220529190116119

we create another turtle

now we call rostopic list again, we can find we have turtle2 here

image-20220529190225390

9. rosbag record

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rosbag record -a -O cmd_record # record the data into cmd_record file
  • we can find a new file under current folder has been created
  • named cmd_record.bag
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rosbag play cmd_record.bag # play the data(the cmd_record file)
Author: Liang Junyi
Link: https://liangjunyi010.github.io/liangjunyi.github.io/2022/05/29/ros-learning-the-usage-of-ros-tools/
Reprint policy: All articles in this blog are used except for special statements CC BY 4.0 reprint policy. If reproduced, please indicate source Liang Junyi !
Linux operating system ROS
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