table of Contents
2 package related commands
2.1 rospack
rospack is a tool for package management. The usage of commands is as follows:
- rospack help shows usage of rospack
- rospack list lists all packages in this machine
- rospack depends [package] show package dependencies
- rospack find [package] locate a package
- rospack profile refresh all package location records
If the above command defaults to package, the default is the current directory (if the current directory contains package.xml)
2.2 roscd
The roscd command is similar to the cd of Linux system. The improvement is that roscd can directly cd to the ROS package.
- roscd [pacakge] cd to ROS package path
2.3 rosls
rosls can also be regarded as an improved version of the Linux command ls, you can directly ls ROS package content.
- rosls [pacakge] List files under pacakge
2.4 rosdep
rosdep is a command-line tool for managing ROS package dependencies, and its usage is as follows:
- rosdep check [pacakge] Check whether the package dependency is satisfied
- rosdep install [pacakge] Install pacakge's dependencies
- rosdep db generates and displays dependent databases
- rosdep init initializes the source in / etc / ros / rosdep
- rosdep keys checks whether the package dependencies are satisfied
- rosdep update updates the local rosdep database
A more commonly used command is rosdep install --from-paths src --ignore-src --rosdistro = kinetic -y, which is used to install all package dependencies under the src path in the workspace (specified by the pacakge.xml file) .
3 Metapackage
metapackage refers to putting multiple packages with close functions or even interdependence into a collection.
Common Metapacakge in ROS are:
| Metapacakge name |
description |
link |
| navigation |
Navigation related feature set |
https://github.com/rosplanning/navigation |
| moveit |
Set of functional packages related to motion planning (mainly robotic arms) |
https://github.com/rosplanning/moveit |
| image_pipeline |
Image acquisition and processing related function package set |
https://github.com/rosperception/image_common |
| vision_opencv |
ROS and OpenCV interaction function package set |
https://github.com/rosperception/vision_opencv |
| turtlebot |
Turtlebot robot related function package set |
https://github.com/turtlebot/turtlebot |
| pr2_robot |
pr2 robot drive function package set |
https://github.com/PR2/pr2_robot |
navigation has the following pacakge:
- amcl positioning
- fake_localization 定位
- map_server provides map
- move_base path planning node
- nav_core Interface class for path planning
- base_local_planner local plan
- dwa_local_planner local planning
