roscore打開ros系統(tǒng)內核

rosrun turtlesim turtlesim_node

rosrun turtlesim turtle_teleop_key

查看已打開的節(jié)點

rosnode list

計算圖? 節(jié)點、話題消息

rqt_graph?

/rosout 日志集中管理的節(jié)點

rosnode info + 節(jié)點 查看節(jié)點信息

系統(tǒng)有哪些話題在發(fā)布、有哪些話題在訂閱

rostopic list

rostopic list

rostopic? ?echo? ?/turtle1/cmd_vel

查看命令回顯

rostopic pub /turtle/cmd_vel? ?geometry_msgs/Twist? ?

rostopic pub -r 10 /turtle/cmd_vel? geometry_msgs/Twist

?服務 rosservice list

rosservice info /clear

rosservice call /spawn "x: 5? ?y:5? theta:0 name:gc"

rqt_plot