ROS commands summary

If you are communicating with ROS via the terminal window, it is possible to issue commands to ROS to explore or control nodes in a package from the command prompt, as listed in the following table:

Command

Action

Example usage and subcommand examples

roscore

This starts the Master

$ roscore

rosrun

This runs an executable program and creates nodes

$ rosrun [package name] [executable name]

rosnode

This shows information about nodes and lists the active nodes

$ rosnode info [node name]

$ rosnode <subcommand>

Subcommand: list

rostopic

This shows information about ROS topics

$ rostopic <subcommand> <topic name>

Subcommands: echo, info, and type

rosmsg

This shows information about the message types

$ rosmsg <subcommand> [package name]/ [message type]

Subcommands: show, type, and list

rosservice

This displays the runtime information about various services and allows the display of messages being sent to a topic

$ rosservice <subcommand> [service name]

Subcommands: args, call, find, info, list, and type

rosparam

This is used to get and set parameters (data) used by nodes

$ rosparam <subcommand> [parameter]

Subcommands: get, set, list, and delete

The website (http://wiki.ros.org/ROS/CommandLineTools) describes many ROS commands. The table lists some important ones. However, these examples only cover a few of the possible variations of the commands.

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