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The blog already have a certain ROS for the programming foundation of people, quickly see ROS related instructions.
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Create a ROS Workspace
Start ROS
$ roscore
Create a work environment
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace
ROS compiled program
$ cd ~/catkin_ws
$ catkin_make
Add the package to the global path
$ echo"source catkin_ws/devel/setup.bash" >> ~/.bashrc
$ source ~/.bashrc
Package related operations
Creating Package and compile
$ cd ~/catkin_ws/src
$ catkin_create_pkg <package_name> [depend1] [depend2] [depend3]
$ cd ~/catkin_ws
$ catkin_make
Find Package
$ rospack find [package name]
View Package dependence
$ rospack depends <package_name>
$ rospack depends1 <package_name>
Node -related operations
View all Node running
$ rosnode list
View a node information
$ rosnode info [node_name]
Run Node
$ rosrun [package_name] [node_name] [__name:=new_name]
Topic related operations
View rostopic all operations
$ Rostopic -h
View all Topic List
$ Rostopic list
Graphical display topic
$ Rosrun rqt_graph rqt_graph
$ rosrun rqt_plot rqt_plot
View a Topic Information
$ Rostopic echo [topical]
View Topic Message Format
$ rostopic type [topic]
$ rosmsg show [msg_type]
To the topic announced
$ rostopic pub [-1] <topic> <msg_type> [-r 1] -- [args] [args]
Service -related operations
Check it service operations
$ rosservice -h
View service list
$ rosservice list
Call service
$ rosservice call [service] [args]
View service format and display data
$ rosservice type [service] | rossrv show
Set serviceparameter
$ rosparam set [parame_name] [args] + rosservice call clear
Get parameter
$ rosparam get [parame_name]
Load parameter
$ rosparam load [file_name] [namespace]
Delete parameter
$ rosparam delete
Bag -related operations
Record all topic changes
$ rosbag record -a
Record some topic
$ rosbag record -O subset <topic1> <topic2>
View bag information
$ rosbag info <bagfile_name>
Playback
$ rosbag play (-r 2) <bagfile_name>
