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ROS基本node，massage
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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. |
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