编译节点 ......................................................................................................................... 82
12.写一个简单的消息发布器和订阅器 (Python) ........................................................................ 84
Writing the Publisher Node ......................................................................................... 85
Writing the Subscriber Node ....................................................................................... 88
Building your nodes ...................................................................................................... 89
13.测试消息发布器和订阅器 ........................................................................................................ 90
启动发布器 ..................................................................................................................... 90
启动订阅器 ..................................................................................................................... 91
14.编写简单的 Service 和 Client (C++) .......................................................................................... 91
编写 Service 节点 ......................................................................................................... 92
编写 Client 节点 ............................................................................................................ 94
编译节点 ......................................................................................................................... 95
15.测试简单的 Service 和 Client .................................................................................................... 96
运行 Service .................................................................................................................. 96
运行 Client ..................................................................................................................... 96
关于 Service 和 Client 节点的更多例子 ..................................................................... 97
16.录制与回放数据 ........................................................................................................................ 97
录制数据（通过创建一个 bag 文件） ........................................................................ 97
检查并回放 bag 文件 .................................................................................................... 99
录制数据子集 ............................................................................................................... 101
rosbag record/play 命令的局限性 ............................................................................ 102
17.roswtf 入门 .............................................................................................................................. 102
安装检查 ....................................................................................................................... 103
运行时检查（在有 ROS 节点运行时） .................................................................... 103
错误报告 ....................................................................................................................... 104
18.探索 ROS 维基 ......................................................................................................................... 105
首页 ............................................................................................................................... 106
package 页面............................................................................................................... 106
stack 页面 .................................................................................................................... 107
19.接下来做什么？ ...................................................................................................................... 108
使用模拟器 ................................................................................................................... 109
使用 RViz .................................................................................................................... 109
理解 TF ........................................................................................................................ 109
更进一步 ....................................................................................................................... 109
中级教程....................................................................................................................................... 110
20.手动创建 ROS package ............................................................................................................ 110
21.管理系统依赖项 ...................................................................................................................... 112
System Dependencies ............................................................................................... 112
22.Roslaunch 在大型项目中的使用技巧 .................................................................................... 114
Introduction .................................................................................................................. 114
高层级的结构 ............................................................................................................... 115
Machine tags and Environment Variables .............................................................. 116
Parameters, namespaces, and yaml files ............................................................... 117
