ROSチュートリアルの一覧表

随時アップデート予定

Name	Description	Command	Example
ROS Node	Start roscore	roscore
	List up rosnode	rosnode list
	Run node	rosrun"PackageName" "NodeName"
	Change node name,	rosrun"PackageName" "NodeName" __name:="NewName"
	Check ping,	rosnode ping "NodeName"
ROS Topic	Start roscore	roscore
	Using rqt_graph	rosrun rqt_graph rqt_graph
	Show rostopic command	rostopic -h
	Show data on rostopic	rostopic echo "TopicName"
	Show all topcs subscriber and publisher	rostopic list -v
	Show the message type of a topic	rostopic type "TopicName"
	Show the type in detail	rosmsg show "MessageType"
	Publish data on a topic (only 1 message)	rostopic pub -1 "TopicName" "MessageType" "Args"
	Check publishing frequency of a node	rostopic hz "TopicName"
	Show information about a topic	rostopic type "TopicName" | rosmsg show
	Using rqt_plot	rosrun rqt_plot rqt_plot
ROS Service	Ros service command	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
	Show service names	rosservice lsit
	Show the type of service	rosservice type "ServiceName"
	Call service	rosservice call "ServiceName" "Args"
	Show the service in detail	rosservice type "ServiceName" | rossrv show
ROS Parameter	Ros parameter command	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
	Show parameter names	rosparam list
	Set parameter	rosparam set "ParameterName"
	Get parameter	rosparam get "ParameterName"
	Show all contents of parameter server	rosparam get /
	Save parameter	rosparam dump "FileName" ("NameSpace")
	Load parameter	rosparam load "FileName" ("NameSpace")
Rosed	Edit package directly	rosed "PackageName" "FileName"
	Show filenames in a package	rosed "PackageName"
	Change default editor to Nano	export EDITOR='nano -w '
	Change default editor to Emacs	export EDITOR='emacs -nw '
Create ROS msg	Go to a package and make msg directry	cd ~/catkin_ws/src_"PackageName" mkdir msg
	create msg file	echo ""ArgsName"" > msg/"FileName".msg	echo "int64 num" > msg/Num.msg
	Add dependency in package.xml file	Add below description on package.xml <br><build_depend>message_generation</build_depend><br><exec_depend>message_runtime</exec_depend><br>
	Add message_generation dependency on CMakeLists.txt	Add below description on CMakeLists.txt <br>find_package(catkin REQUIRED COMPONENTS<br> roscpp<br> rospy<br> std_msgs<br> message_generation<br>)<br>
	Add message files on CMakeLists.txt	add_message_files( FILES "FileName1".msg "FileName2".msg )	add_message_files( FILES Num.msg )
	Add generate messages on CMakeLists.txt	generate_messages( DEPENDENCIES std_msgs )
ROS MSG	Show rosmsg	rosmsg show "PackageName/MessageFile" or rosmsg show "MessageFile"	rosmsg show beginner_tutorials/Num or rosmsg show Num
Create ROS srv	Go to a package and make srv directry	cd ~/catkin_ws/src_"PackageName" mkdir srv
	Create and copy srv file	roscp "Packagename" "FileName" srv/"FileName"	roscp rospy_tutorials AddTwoInts.srv srv/AddTwoInts.srv
	Add dependency in package.xml file	Add below description on package.xml <br><build_depend>message_generation</build_depend><br><exec_depend>message_runtime</exec_depend><br>
	Add message_generation dependency on CMakeLists.txt	Add below description on CMakeLists.txt <br>find_package(catkin REQUIRED COMPONENTS<br> roscpp<br> rospy<br> std_msgs<br> message_generation<br>)<br>
	Add Service files on CMakeLists.txt	add_service_files( FILES "ServiceName1".srv "ServiceName2".srv )	add_service_files( FILES AddTwoInts.srv )
ROS SRV	Show rossrv	rossrv show "ServiceType"	rossrv show beginner_tutorials/AddTwoInts
ROS BAG	Record all data of published topics	cd "BagDirectry" rosbag record -a
	Show bag file	rosbag info "BagFile"
	Replay bag file	rosbag play "BagFile"
	Replay bag file with changing the publishing rate	rosbag play -r "Rate" "BagFile"
	Record subset topics	rosbag record -O subset "TopoicName1" "TopicName2" ...