TurtleSim测试日志(基于ROS2 Eloquent Elusor)
1.ros2 run
1.1 ros2 run turtlesim turtlesim_node --ros-args --remap __node:=robotMan
1.2 ros2 runturtlesim turtle_teleop_key --ros-args --remap __node:=robotRC
2.ros2 node
2.1 ros2 node list
| /robotMan /robotRC |
2. 2 ros2 node info /robotMan
| /robotMan Subscribers: /parameter_events: rcl_interfaces/msg/ParameterEvent /turtle1/cmd_vel: geometry_msgs/msg/Twist Publishers: /parameter_events: rcl_interfaces/msg/ParameterEvent /rosout: rcl_interfaces/msg/Log /turtle1/color_sensor: turtlesim/msg/Color /turtle1/pose: turtlesim/msg/Pose Service Servers: /clear: std_srvs/srv/Empty /kill: turtlesim/srv/Kill /reset: std_srvs/srv/Empty /robotMan/describe_parameters: rcl_interfaces/srv/DescribeParameters /robotMan/get_parameter_types: rcl_interfaces/srv/GetParameterTypes /robotMan/get_parameters: rcl_interfaces/srv/GetParameters /robotMan/list_parameters: rcl_interfaces/srv/ListParameters /robotMan/set_parameters: rcl_interfaces/srv/SetParameters /robotMan/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically /spawn: turtlesim/srv/Spawn /turtle1/set_pen: turtlesim/srv/SetPen /turtle1/teleport_absolute: turtlesim/srv/TeleportAbsolute /turtle1/teleport_relative: turtlesim/srv/TeleportRelative Service Clients:
Action Servers: /turtle1/rotate_absolute: turtlesim/action/RotateAbsolute Action Clients: |
3.ros2 topic
3.1 ros2 topic list -t
| /parameter_events [rcl_interfaces/msg/ParameterEvent] /rosout [rcl_interfaces/msg/Log] /turtle1/cmd_vel [geometry_msgs/msg/Twist] /turtle1/color_sensor [turtlesim/msg/Color] /turtle1/pose [turtlesim/msg/Pose] |
3.2 ros2 topic type /turtle1/cmd_vel
| geometry_msgs/msg/Twist |
| ros2 interface show geometry_msgs/msg/Twist # This expresses velocity in free space broken into its linear and angular parts.
Vector3 linear Vector3 angular |
3.3 ros2 topic info /turtle1/cmd_vel
| Type: geometry_msgs/msg/Twist Publisher count: 1 Subscriber count: 1 |
3. 4 ros2 topic hz /turtle1/cmd_vel
| average rate: 0.406 min: 0.001s max: 4.923s std dev: 2.46103s window: 2 average rate: 1.329 min: 0.000s max: 4.923s std dev: 1.58888s window: 8 |
3. 5 ros2 topic bw /turtle1/cmd_vel
| Subscribed to [/turtle1/cmd_vel] average: 218.03B/s mean: 52.00B/s min: 52.00B/s max: 52.00B/s window: 2 average: 140.26B/s mean: 52.00B/s min: 52.00B/s max: 52.00B/s window: 4 |
3.6 ros2 topic delay /turtle1/cmd_vel
| msg does not have header |
3.7 ros2 topic echo /turtle1/cmd_vel
| linear: x: 0.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: -2.0 --- linear: x: 0.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: -2.0 |
3.8 ros2 topic pub --once /turtle1/cmd_vel geometry_msgs/msg/Twist “{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}”
| publisher: beginning loop publishing #1: geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=2.0, y=0.0, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=1.8)) |
| ros2 topic pub --rate1 /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}" publisher: beginning loopss publishing #1: geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=2.0, y=0.0, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=1.8))
publishing #2: geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=2.0, y=0.0, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=1.8))
publishing #3: geometry_msgs.msg.Twist(linear=geometry_msgs.msg.Vector3(x=2.0, y=0.0, z=0.0), angular=geometry_msgs.msg.Vector3(x=0.0, y=0.0, z=1.8)) |
3.9 ros2 topic find geometry_msgs/msg/Twist
| /turtle1/cmd_vel |
4.ros2 service
4.1 ros2 service list -t
| /clear [std_srvs/srv/Empty] /kill [turtlesim/srv/Kill] /reset [std_srvs/srv/Empty] /robotMan/describe_parameters [rcl_interfaces/srv/DescribeParameters] /robotMan/get_parameter_types [rcl_interfaces/srv/GetParameterTypes] /robotMan/get_parameters [rcl_interfaces/srv/GetParameters] /robotMan/list_parameters [rcl_interfaces/srv/ListParameters] /robotMan/set_parameters [rcl_interfaces/srv/SetParameters] /robotMan/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically] /robotRC/describe_parameters [rcl_interfaces/srv/DescribeParameters] /robotRC/get_parameter_types [rcl_interfaces/srv/GetParameterTypes] /robotRC/get_parameters [rcl_interfaces/srv/GetParameters] /robotRC/list_parameters [rcl_interfaces/srv/ListParameters] /robotRC/set_parameters [rcl_interfaces/srv/SetParameters] /robotRC/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically] /spawn [turtlesim/srv/Spawn] /turtle1/set_pen [turtlesim/srv/SetPen] /turtle1/teleport_absolute [turtlesim/srv/TeleportAbsolute] /turtle1/teleport_relative [turtlesim/srv/TeleportRelative] |
4.2 ros2 service type /spawn/kill
| turtlesim/srv/Spawn turtlesim/srv/Kill |
| ros2 interface showturtlesim/srv/Spawnturtlesim/srv/Kill float32 x string name float32 y --- float32 theta string name # Optional. A unique name will be created and returned if this is empty --- string name |
4.3 ros2 service call/spawn turtlesim/srv/Spawn "{x: 2, y: 2, theta: 0.2, name: 'turtleXYZ'}"
| waiting for service to become available... requester: making request: turtlesim.srv.Spawn_Request(x=2.0, y=2.0, theta=0.2, name='turtleXYZ')
response: turtlesim.srv.Spawn_Response(name='turtleXYZ') |
||
| ros2 node list /robotMan /robotRC |
ros2 topic list /parameter_events /rosout /turtle1/cmd_vel /turtle1/color_sensor /turtle1/pose /turtleXYZ/cmd_vel /turtleXYZ/color_sensor /turtleXYZ/pose |
ros2 service list /clear /kill /reset /robotMan/describe_parameters /robotMan/get_parameter_types /robotMan/get_parameters /robotMan/list_parameters /robotMan/set_parameters /robotMan/set_parameters_atomically /robotRC/describe_parameters /robotRC/get_parameter_types /robotRC/get_parameters /robotRC/list_parameters /robotRC/set_parameters /robotRC/set_parameters_atomically /spawn /turtle1/set_pen /turtle1/teleport_absolute /turtle1/teleport_relative /turtleXYZ/set_pen /turtleXYZ/teleport_absolute /turtleXYZ/teleport_relative |
| ros2 service call/kill turtlesim/srv/Kill "{name: 'turtleXYZ'}" waiting for service to become available... requester: making request: turtlesim.srv.Kill_Request(name='turtleXYZ')
response: turtlesim.srv.Kill_Response() |
||
4.4 ros2 service findturtlesim/srv/Spawn turtlesim/srv/Kill
| /spawn /kill |
5.ros2 action
5.1 ros2 action list -t
| /turtle1/rotate_absolute [turtlesim/action/RotateAbsolute] |
5.2 ros2 action info /turtle1/rotate_absolute
| Action: /turtle1/rotate_absolute Action clients: 1 /robotRC Action servers: 1 /robotMan |
5.3 ros2 action show turtlesim/action/RotateAbsolute
| # The desired heading in radians float32 theta --- # The angular displacement in radians to the starting position float32 delta --- # The remaining rotation in radians float32 remaining |
| ros2 interface show turtlesim/action/RotateAbsolute # The desired heading in radians float32 theta --- # The angular displacement in radians to the starting position float32 delta --- # The remaining rotation in radians float32 remaining |
5.4 ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute "{theta: 1.57}"
| Waiting for an action server to become available... Sending goal: theta: 1.57
Goal accepted with ID: 0f0afda3857f4c7393360e211f6701f9
Result: delta: -1.5520002841949463
Goal finished with status: SUCCEEDED |
6.ros2 param
6.1 ros2 param list
| /robotMan: background_b background_g background_r use_sim_time /robotRC: scale_angular scale_linear use_sim_time |
6.2 ros2 param get/robotMan background_r
| Integer value is: 69 |
6.3 ros2 param set/robotMan background_r 255
| Set parameter successful ros2 param dump /robotMan Saving to: .\robotMan.yaml |
robotMan: ros__parameters: background_b: 255 background_g: 86 background_r: 255 use_sim_time: false |
6.4 ros2 param delete /robotMan background_r
| Deleted parameter successfully |
| ros2 param list /robotMan: background_b background_g use_sim_time /robotRC: scale_angular scale_linear use_sim_time |
6.5 ros2 param describe /robotMan /background_r
| Parameter name: background_r Type: integer Description: Red channel of the background color Constraints: Min value: 0 Max value: 255 |
6.6 ros2 param dump /robotMan
| Saving to: .\robotMan.yaml |
7.ros2 launch
7.1 ros2 launchturtlesim_mimic_launch.py
| [INFO] [launch]: All log files can be found below C:\Users\Administrator\.ros/log\2020-01-02-20-17-03-535917-Win10PC-9152 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [turtlesim_node.EXE-1]: process started with pid [3832] [INFO] [turtlesim_node.EXE-2]: process started with pid [10064] [INFO] [mimic.EXE-3]: process started with pid [8304] |
|
| from launch import LaunchDescription from launch_ros.actions import Node
def generate_launch_description(): return LaunchDescription([ Node( package='turtlesim', node_executable='turtlesim_node', node_name='robotMan', node_namespace='namespaceABC', ), Node( package='turtlesim', node_executable='turtlesim_node', node_name='robotMan', node_namespace='namespaceXYZ' ), Node( package='turtlesim', node_executable='mimic', node_name='mimic', remappings=[ ('/input/pose', '/namespaceABC/turtle1/pose'), ('/output/cmd_vel', '/namespaceXYZ/turtle1/cmd_vel'), ] ) ]) |
|
| ros2 topic pub -r 1 /namespaceABC/turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: -1.8}}" |
|
| ros2 node list /launch_ros /mimic /namespaceABC/robotMan /namespaceXYZ/robotMan
ros2 topic list /namespaceABC/parameter_events /namespaceABC/robotMan/pose /namespaceABC/rosout /namespaceABC/turtle1/cmd_vel /namespaceABC/turtle1/color_sensor /namespaceABC/turtle1/pose /namespaceXYZ/parameter_events /namespaceXYZ/robotMan/cmd_vel /namespaceXYZ/rosout /namespaceXYZ/turtle1/cmd_vel /namespaceXYZ/turtle1/color_sensor /namespaceXYZ/turtle1/pose /parameter_events /rosout
ros2 action list /namespaceABC/turtle1/rotate_absolute /namespaceXYZ/turtle1/rotate_absolute
ros2 param list /launch_ros: use_sim_time /mimic: use_sim_time /namespaceABC/robotMan: background_b background_g background_r use_sim_time /namespaceXYZ/robotMan: background_b background_g background_r use_sim_time |
ros2 service list /launch_ros/describe_parameters /launch_ros/get_parameter_types /launch_ros/get_parameters /launch_ros/list_parameters /launch_ros/set_parameters /launch_ros/set_parameters_atomically /mimic/describe_parameters /mimic/get_parameter_types /mimic/get_parameters /mimic/list_parameters /mimic/set_parameters /mimic/set_parameters_atomically /namespaceABC/clear /namespaceABC/kill /namespaceABC/reset /namespaceABC/robotMan/describe_parameters /namespaceABC/robotMan/get_parameter_types /namespaceABC/robotMan/get_parameters /namespaceABC/robotMan/list_parameters /namespaceABC/robotMan/set_parameters /namespaceABC/robotMan/set_parameters_atomically /namespaceABC/spawn /namespaceABC/turtle1/set_pen /namespaceABC/turtle1/teleport_absolute /namespaceABC/turtle1/teleport_relative /namespaceXYZ/clear /namespaceXYZ/kill /namespaceXYZ/reset /namespaceXYZ/robotMan/describe_parameters /namespaceXYZ/robotMan/get_parameter_types /namespaceXYZ/robotMan/get_parameters /namespaceXYZ/robotMan/list_parameters /namespaceXYZ/robotMan/set_parameters /namespaceXYZ/robotMan/set_parameters_atomically /namespaceXYZ/spawn /namespaceXYZ/turtle1/set_pen /namespaceXYZ/turtle1/teleport_absolute /namespaceXYZ/turtle1/teleport_relative |