沉默杀手HomeArchivesTagsCategories
ROS2常用的命令
|ROSROS2|
Word count: 580|Reading time: 3 min

pkg

1
2
3
4
5
6
7
8
9
10
# 列出某个包的所有可执行文件
ros2 pkg executables pkg_name
# 列出所有的包
ros2 pkg list

# 某个包所在路径的前缀
ros2 pkg prefix pkg_name

# 查看包对应的 package.xml 文件
ros2 pkg xml pkg_name

node 命令

ros2 node 不识别kill命令，只有info 和 list

topic

1
2
3
4
ros2 topic list                # 查看话题列表
ros2 topic info <topic_name>   # 查看话题信息
ros2 topic hz   <topic_name>   # 查看话题发布频率
ros2 topic bw   <topic_name>   # 查看话题传输带宽
  • 手动发消息到话题

ros2 topic pub <topic_name> <msg_type> <msg_data>

1
ros2 topic pub /chatter std_msgs/msg/String 'data:"123"

发布一条路径的命令

1
2
3
4
5
6
7
8
9
10
11
12
ros2 topic pub /my_path nav_msgs/msg/Path \
"{header: {stamp: {sec: 0, nanosec: 0}, frame_id: 'map'}, \
poses: [\
  {header: {stamp: {sec: 0, nanosec: 0}, frame_id: 'map'}, \
   pose: {position: {x: 1.05, y: 2.27, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}},
 {header: {stamp: {sec: 0, nanosec: 0}, frame_id: 'map'}, \
   pose: {position: {x: 2.19, y: 1.08, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}},
 {header: {stamp: {sec: 0, nanosec: 0}, frame_id: 'map'}, \
   pose: {position: {x: 2, y: 2.3, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}},
 {header: {stamp: {sec: 0, nanosec: 0}, frame_id: 'map'}, \
   pose: {position: {x: 3, y: 2.25, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}}\
]}"

  • ros2 topic info topic_name

现在必须加/了

1
2
3
4
5
6
7
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

  • 输出话题的详细信息，包括发布订阅者: ros2 topic info /odom -v
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
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
  • ros2 interface show msg_name

显示 Topic 发送的消息定义 ros2 interface show sensor_msgs/msg/Imu

  • ros2 topic find msg_name

获知某个消息类型是谁在用

1
2
user@robot:~$ ros2 topic find sensor_msgs/msg/Imu
/imu