ROS common tools
- Simulation: Gazebo
- Debugging, visualization: Rviz, rqt
- Command-line tool: rostopic, rosbag ...
- Special tools: Moveit!
Gazebo
Simulation robot simulation tools, ODE physics engine for dynamics, navigation, perception and other tasks
RViz
The Robot Visualization tool visualization tools to facilitate monitoring and debugging
some abstract information in an image sensor is transmitted to us, to facilitate the development and debugging
rqt
Visualization tools, qt development, compared to RViz display graphics based on some of the more advanced. Common:
- rqt_graph: display communication architecture
picture of the entire reaction system, node currently running, the flow of messages, and the like - rqt_plot: plotted
drawing parameter, in particular curve plotting dynamic parameters - rqt_concole: View Log
rosbag
For data recording and data playback. ROS is a command-line tool, recording and playback of data streams. rosbag commonly used commands:
$ rosbag record <topic_names> # 记录某些topic到bag中
$ rosbag record -a # 记录所有topic到bag中
$ rosbag play <bag-files> # 回放bag
