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ROS-service & parameter
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这是一种单对单的形式，不用与之前的发布和订阅 rosservice list print information about active services rosservice call call the service with the provided args rosservice type print service type rosservice find find services by service type rosservice uri print service ROSRPC uri 看看当前node的服务 $ rosservice list 查看类型rosservice type [service] $ rosservice type clear std_srvs/Empty －－表示当服务call时，没有任何参数（发送请求是没有数据，接受响应时也没有数据 调用 rosservice call [service] [args] $ rosservice call /clear 清除了之前的轨迹 $ rosservice type spawn | rossrv show －－显示服务描述 $ rosservice call spawn 2 2 0.2 "" －－－创建新的小海龟，给定参数x,y,theta,name（这里name为空）他自动返回name: turtle2 参数 rosparam set set parameter rosparam get get parameter rosparam load load parameters from file rosparam dump dump parameters to file rosparam delete delete parameter rosparam list list parameter names rosparam set [param_name] rosparam get [param_name] $ rosparam get / Here we write all the parameters to the file params.yaml $ rosparam dump params.yaml You can even load these yaml files into new namespaces, e.g. copy: $ rosparam load params.yaml copy $ rosparam get copy/background_b Using rqt_console and roslaunch 如果没装rqt或者turtlesim $ sudo apt-get install ros-<distro>-rqt ros-<distro>-rqt-common-plugins ros-<distro>-turtlesim rxconsole 是连接ROS 日志文档，并将节点的这些信息显示在窗体内。 rxloggerlevel 可以显示运行中节点的DEBUG，WARN，INFO 和ERROR信息 用来显示进程运行过程中出现的错误警告之类 rostopic pub /turtle1/cmd_vel geometry_msgs/Twist -r 1 -- '{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}' 会报错 日志(logger)层 信息包括：Fatal, Error, Warn, Info, Debug，他们设置依次从高到低，比如设置Warn,我们必须知道Info, Debug信息，我们可以做还在设置知道warnning roslaunch $ roslaunch [package] [filename.launch] 打开包 $ roscd beginner_tutorials 如果出现类似这种错误No such package/stack 'beginner_tutorials' ，要先source一下环境 $ cd ~/catkin_ws $ source devel/setup.bash $ roscd beginner_tutorials 再来建一个launch文件夹 $ mkdir launch $ cd launch 其实也可以不用建，roslauch命令会自己去寻找.launch文件 建一个turtlemimic.launch文件，内容如下 1 <launch> 2 3 <group ns="turtlesim1"> 4 <node pkg="turtlesim" name="sim" type="turtlesim_node"/> 5 </group> 6 7 <group ns="turtlesim2"> 8 <node pkg="turtlesim" name="sim" type="turtlesim_node"/> 9 </group> 10 11 <node pkg="turtlesim" name="mimic" type="mimic"> 12 <remap from="input" to="turtlesim1/turtle1"/> 13 <remap from="output" to="turtlesim2/turtle1"/> 14 </node> 15 16 </launch> launch文件诠释： 1 <launch>－－－－以launch作为launch文件开头 23 <group ns="turtlesim1"> －－－－以turlesim1为名的文件夹或者命名空间的节点 4 <node pkg="turtlesim" name="sim" type="turtlesim_node"/> 5 </group>6 7 <group ns="turtlesim2">－－－－以turlesim2为名的文件夹或者命名空间的节点 8 <node pkg="turtlesim" name="sim" type="turtlesim_node"/> 9 </group> 10 11 <node pkg="turtlesim" name="mimic" type="mimic">－－－在主题上模仿节点的输入和输出，并重命名turlesim1,turlesim2,比如：turlesim1变成mimicturtlesim1 12 <remap from="input" to="turtlesim1/turtle1"/> 13 <remap from="output" to="turtlesim2/turtle1"/> 14 </node> 15 16 </launch> －－－－关闭launch文件 可以运行一下 $ roslaunch beginner_tutorials turtlemimic.launch 会出来两个乌龟 $ rostopic pub /turtlesim1/turtle1/cmd_vel geometry_msgs/Twist -r 1 -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, -1.8]' 两个乌龟一起画圆 |
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Using rosed to edit files in ROS $ rosed [package_name] [filename] 可以直接编辑包里面文件，不需要知道位置 $ rosed roscpp Logger.msg This example demonstrates how you would edit the Logger.msg file within the roscpp package 学会用tab键，就不需要知道文件的名字 $ rosed [package_name] <tab><tab> Example: $ rosed roscpp <tab><tab> 会出来一堆 Empty.srv package.xml GetLoggers.srv roscpp-msg-extras.cmake Logger.msg roscpp-msg-paths.cmake SetLoggerLevel.srv roscpp.cmake genmsg_cpp.py roscppConfig-version.cmake gensrv_cpp.py roscppConfig.cmake msg_gen.py vim不是ros自带的，改默认编辑器为ros自带的nano You can use it by editing your ~/.bashrc file to include: export EDITOR='nano -w' export EDITOR='emacs -nw' NOTE: changes in .bashrc will only take effect for new terminals. Terminals that are already open will not see the new environmental variable 看一下改成没有 Open a new terminal and see if EDITOR is defined: $ echo $EDITOR nano -w or emacs -nw |
2楼2016-08-10 17:44:53