pkg
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| ros2 pkg executables pkg_name
ros2 pkg list
ros2 pkg prefix pkg_name
ros2 pkg xml pkg_name
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node 命令
ros2 node 不识别kill
命令,只有info
和 list
topic
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| ros2 topic list ros2 topic info <topic_name> ros2 topic hz <topic_name> ros2 topic bw <topic_name>
ros2 topic pub <topic_name> <msg_type> <msg_data>
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- ros2 topic info topic_name
现在必须加/
了
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| user@robot:~$ ros2 topic info imu Unknown topic 'imu'
user@robot:~$ ros2 topic info /imu Type: sensor_msgs/msg/Imu Publisher count: 1 Subscription count: 1
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- 输出话题的详细信息,包括发布订阅者: ros2 topic info /odom -v
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| Type: nav_msgs/msg/Odometry
Publisher count: 1
Node name: turtlebot3_diff_drive Node namespace: / Topic type: nav_msgs/msg/Odometry Endpoint type: PUBLISHER GID: 01.0f.ea.0f.41.6a.0c.34.01.00.00.00.00.00.a5.03.00.00.00.00.00.00.00.00 QoS profile: Reliability: RMW_QOS_POLICY_RELIABILITY_RELIABLE Durability: RMW_QOS_POLICY_DURABILITY_VOLATILE Lifespan: 2147483651294967295 nanoseconds Deadline: 2147483651294967295 nanoseconds Liveliness: RMW_QOS_POLICY_LIVELINESS_AUTOMATIC Liveliness lease duration: 2147483651294967295 nanoseconds
Subscription count: 1
Node name: my_node Node namespace: / Topic type: nav_msgs/msg/Odometry Endpoint type: SUBSCRIPTION GID: 01.0f.ea.0f.0d.6a.5d.f0.01.00.00.00.00.00.13.04.00.00.00.00.00.00.00.00 QoS profile: Reliability: RMW_QOS_POLICY_RELIABILITY_RELIABLE Durability: RMW_QOS_POLICY_DURABILITY_VOLATILE Lifespan: 2147483651294967295 nanoseconds Deadline: 2147483651294967295 nanoseconds Liveliness: RMW_QOS_POLICY_LIVELINESS_AUTOMATIC Liveliness lease duration: 2147483651294967295 nanoseconds
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- ros2 interface show msg_name
显示 Topic 发送的消息定义 ros2 interface show sensor_msgs/msg/Imu
获知某个消息类型是谁在用
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| user@robot:~$ ros2 topic find sensor_msgs/msg/Imu /imu
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1
| ros2 topic pub /chatter std_msgs/msg/String 'data:"123"
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