ROS study notes (four): ROS command

ROS shell commands

1. roscd pkg switches to the specified ROS function package directory
2. rosls pkg prints the files and directories in the specified ROS function package directory
3. rosed pkg file edits the specified file in the specified ROS function package directory. The vim editor is used by default. You can modify the default editor in the ~/.bashrc file: export EDITOR='emacs -nw'.

ROS execution command

1. roscore starts the master node
2. rosrun pkg exe(node) Run the specified executable file (node) under the specified function package
3. roslaunch pkg demo.launch runs the specified multiple nodes according to the demo.launch file, and can set the running options according to the parameters
4. rosclean check checks log usage. When the log file exceeds 1GB, execute rosclean purge to delete all log files.

ROS information command

1. rostopic list lists currently active topics, you can use the -h option to see which options are available for rostopic
2. rosservice list lists currently active services, also available -h
3. rosnode list lists the currently started nodes, same as above
4. rosparam list lists the parameters of the current environment, the same as above
5. rosmsg list lists all messages, same as above
6. rossrv list lists all services, same as above

ROS catkin command

1. catkin_create_pkg pkg dependencies Create feature package
2. catkin_make is based on the catkin build system. If you only need to build a certain feature package, use –pkg to specify: catkin_make --pkg pkg

rosbag: ROS log information