| 查看: 534 | 回复: 0 | |||
[交流]
ROS基本node，massage
|
|
基本概念： Nodes: A node is an executable that uses ROS to communicate with other nodes. Messages: ROS data type used when subscribing or publishing to a topic. Topics: Nodes can publish messages to a topic as well as subscribe to a topic to receive messages. Master: Name service for ROS (i.e. helps nodes find each other) rosout: ROS equivalent of stdout/stderr roscore: Master + rosout + parameter server (parameter server will be introduced later) Client Libraries ROS client libraries allow nodes written in different programming languages to communicate: rospy = python client library roscpp = c++ client library $ roscore 如果权限不够 $ sudo chown -R <your_username> ~/.ros 开一个新的终端 $ rosnode list 再开一个 $ rosrun [package_name] [node_name] $ rosrun turtlesim turtlesim_node $ rosnode 改node名字 $ rosrun turtlesim turtlesim_node __name:=my_turtle 可以ping一下 $ rosnode ping my_turtle roscore = ros+core : master (provides name service for ROS) + rosout (stdout/stderr) + parameter server (parameter server will be introduced later) rosnode = ros+node : ROS tool to get information about a node. rosrun = ros+run : runs a node from a given package. |
回复此楼» 猜你喜欢
面上再次挂了，太难了，躺也躺不了，倦也卷不过，小学校之殇！
已经有22人回复
-
售SCI一区T0P文章，我:8.O55.1.O.54,科目全,可十急
已经有9人回复
-
售SCI-T0P文章，我:8O.5.5.1.O.54,科目齐全,可+急
已经有6人回复
-
售SCI-T0P文章，我:8O.5.5.1.O.54,科目齐全,可+急
已经有11人回复
-
售SCI一区文章，我:8.O.55.1.O.54,科目齐全,可伽急
已经有11人回复
-
售SCI一区T0P文章，我:8.O55.1.O.54,科目全,可十急
已经有8人回复
-
售SCI一区T0P文章，我:8.O.55.1.O.5.4,科目全,可+急
已经有11人回复
-
2026年国自然面上资助率
已经有19人回复
-
微信指数没变化，科研之友没阅读
已经有18人回复
-
基础研究怎么拉横向，学校到款任务越来越多，难以完成 拉横向，都有哪些途径啊
已经有8人回复
15