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  • ROS2 course week4. homework
    ROS2 Study 2021. 10. 6. 15:12
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    1. run turtlesim

    $ ros2 run turtlesim turtlesim_node

    $ ros2 run turtlesim turtle_teleop_key

    $ rqt_graph

     

    * executable name is not same with real node name

     

     

     

    2. node

    a single purpose, reusable

     

     

    $ ros2 run <package_name> <executable_name>

     

    $ ros2 pkg list

    and find executable nodes in a package

    $ ros2 pkg excutables <package_name>

     

    3. run the same node with different name

    $ ros2 run turtlesim turtlesim_node --ros-args --remap __node:=turtle2

    or

    $ ros2 run turtlesim turtlesim_node __node:=new_turtle

     

     

    4. node information

    $ ros2 node info <node_name>

    $ ros2 node info /turtle2

     

     

     

     

    5. Topic

    $ ros2 topic list

    $ ros2 topic list -t

    $ ros2 topic info /turtle1/cmd_vel

    topic echo

    $ ros2 topic echo /turtle1/cmd_vel

    topic bw

    $ ros2 topic bw /turtle1/cmd_vel

    topic hz

    $ ros2 topic hz /turtle1/cmd_vel

     

     

     

     

     

    6. publish

    it is usual that publish code in a source code

    but now we'll try by terminal

    $ ros2 topic pub --once /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}"

     

    $ ros2 topic pub --rate 1 /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}"

     

     

     

    7. topic record

    $ ros2 bag record /turtle1/cmd_vel

    $ ros2 bag info rosbag2_2021_10_06-14_55_49/

    $ ros2 bag play rosbag2_2021_10_06-14_55_49/

     

    8. service

     

    $ ros2 run turtlesim turtlesim_node

    $ ros2 service list

    $ ros2 service list -t

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