ROS官网学习笔记：Beginner阶段
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2018-10-26
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ROS 官网学习资料整理 1-初级阶段
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Version：1.0；Date：20140430；Author：LiGaofeng，NKU
目 录
目录 ................................................................................................................................................................. 1
一、基本命令 ................................................................................................................................................. 3
二、创建一个 WorkSpace .............................................................................................................................. 3
三、创建一个 Package ................................................................................................................................... 3
3.1 一个包的组成 .................................................................................................................................. 3
3.2 包与 catkin WorkSpace 空间关系 ................................................................................................... 3
3.3 创建一个 catkin Package ................................................................................................................. 4
3.4 包的依赖 .......................................................................................................................................... 5
3.4.1 First-order dependencies ........................................................................................................ 5
3.4.2.Indirect dependencies ............................................................................................................. 5
3.5 定制自己的包 .................................................................................................................................. 5
3.5.1 认识 package.xml 文件各部分含义 ..................................................................................... 5
四、编译一个 ROS 包 .................................................................................................................................... 6
4.1 Building Packages ............................................................................................................................. 6
五、理解 ROS 节点 ........................................................................................................................................ 6
5.1 熟悉如下几个概念 .......................................................................................................................... 7
5.2 Client Libraries .................................................................................................................................. 7
5.3 roscore ............................................................................................................................................... 7
5.4 开始使用 rosnode ............................................................................................................................ 8
5.5 用 rosrun. .......................................................................................................................................... 9
六、理解 ROS 中的 Topics ........................................................................................................................... 10
6.1 键盘遥控乌龟 ................................................................................................................................ 11
6.2 ROS Topics...................................................................................................................................... 11
6.3 介绍 rostopic .................................................................................................................................. 12
6.3.1 rostopic echo ........................................................................................................................ 12
6.3.2 rostopic list ........................................................................................................................... 13
6.4 ROS Messages................................................................................................................................. 13
6.4.1 用 rostopic type ................................................................................................................... 14
6.4.2 用 rostopic pub 命令 ........................................................................................................... 15
6.4.3 用 rostopic hz 命令 ............................................................................................................. 16
七、理解 ROS 中的 Services 和 Parameters ................................................................................................ 18
7.1 ROS Services................................................................................................................................... 18
7.2 用 rosservice 命令 .......................................................................................................................... 18
7.2.1 rosservice list ........................................................................................................................ 19
7.2.2 rosservice type ...................................................................................................................... 19
7.2.3 rosservice call ....................................................................................................................... 20
7.3 用 rosparam .................................................................................................................................... 21
7.3.1 rosparam list ......................................................................................................................... 21
7.3.2 rosparam set 和 get 命令 ...................................................................................................... 21
7.3.3 rosparam dump 和 rosparam load 命令 ............................................................................... 23
八、使用 rqt_console 和 roslaunch ............................................................................................................. 24
8.1 安装 rqt 和 turtlesim 包。 ............................................................................................................. 24
8.2 rqt_console 和 rqt_logger_level 的用法 ......................................................................................... 24
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