学习目标：
ROS学习内容：
熟悉ROS学习时间：
周一晚上7:00-8:00 周二晚上8:00-9:00 周三晚上8:00-9:00 周四晚上8:00-9:00学习产出：
Test roscore
$ roscore
Start turnlesim
Start a turnlesim node and control its movement through the keyboard.
PS：To stop the cursor at this terminal.
$ rosrun turtlesim turtlesim_node
$ rosrun turtlesim turtle_teleop_key
Start RViz
- Rviz is a 3D visualization tool for ROS
- Subscribes to topics and visualizes the message contents
- DIfferent camera views.For example,orthographic,top-down.
- Interactive tools to publish user information
- Save and load setup as RViz configuration
- Extensible with plugins
$ rviz
Start Gazebo
- Simulate 3D rigid-body dynamics
- Simulate a variety of sensors including noise
- 3D visualization and uesr interaction
- Includes a database of many robots and environments
- Provides a ROS interface
- Extensible with plugins
$ gazebo
Draw pentagon by turtlesim
Open at different terminals
$ roscore
$ rosrun turtlesim turtlesim_node
$ rosrun turtle_actionlib shape_server
$ rosrun turtle_actionlib shape_client
TF2
$ roslaunch turtle_tf2 turtle_tf2_demo.launch
$ rviz
PS:Rviz needs to be configured correctly
URDF
$ roslaunch urdf_tutorial display.launch
Rviz visualization
$ roscore
$ rosrun visualization_marker_tutorials points_and_lines
$ rviz
$ roscore
$ rosrun interactive_marker_tutorials pong
$ rviz
结语
微星启动ROS2GO真麻烦。