ros2之turtlesim命令

如何在ros2熟悉和使用各種指令呢，ros1的經(jīng)典小烏龜是最快捷的途徑之一。

ros2_tutorials(turtlesim):?https://github.com/zhangrelay/ros2_tutorials

通過turtlesim，對比一下ros1和ros2吧：

文件組織：

ros1：

.

├── CHANGELOG.rst

├── CMakeLists.txt

├── images

│???├── box-turtle.png

│???├── diamondback.png

│???├── electric.png

│???├── fuerte.png

│???├── groovy.png

│???├── hydro.png

│???├── hydro.svg

│???├── indigo.png

│???├── indigo.svg

│???├── jade.png

│???├── kinetic.png

│???├── kinetic.svg

│???├── lunar.png

│???├── lunar.svg

│???├── melodic.png

│???├── palette.png

│???├── robot-face.png

│???├── robot-turtle.png

│???├── sea-turtle.png

│???├── turtle.png

│???└── turtle.xar

├── include

│???└── turtlesim

│??? ? ?├── turtle_frame.h

│??? ? ?└── turtle.h

├── launch

│???└── multisim.launch

├── msg

│???├── Color.msg

│???└── Pose.msg

├── package.xml

├── src

│???├── turtle.cpp

│???├── turtle_frame.cpp

│???├── turtlesim

│???│???└── __init__.py

│???└── turtlesim.cpp

├── srv

│???├── Kill.srv

│???├── SetPen.srv

│???├── Spawn.srv

│???├── TeleportAbsolute.srv

│???└── TeleportRelative.srv

└── tutorials

├── draw_square.cpp

├── mimic.cpp

└── teleop_turtle_key.cpp

9 directories, 41 files

ros2：

.

├── CHANGELOG.rst

├── CMakeLists.txt

├── images

│???├── box-turtle.png

│???├── diamondback.png

│???├── electric.png

│???├── fuerte.png

│???├── groovy.png

│???├── hydro.png

│???├── hydro.svg

│???├── indigo.png

│???├── indigo.svg

│???├── jade.png

│???├── kinetic.png

│???├── kinetic.svg

│???├── lunar.png

│???├── lunar.svg

│???├── melodic.png

│???├── palette.png

│???├── robot-turtle.png

│???├── sea-turtle.png

│???├── turtle.png

│???└── turtle.xar

├── include

│???└── turtlesim

│??? ? ?├── turtle_frame.h

│??? ? ?└── turtle.h

├── launch

│???├── draw_square.launch.py

│???├── multisim.launch.py

│???└── __pycache__

│??? ? ?└── draw_square.launch.cpython-36.pyc

├── msg

│???├── Color.msg

│???└── Pose.msg

├── package.xml

├── src

│???├── turtle.cpp

│???├── turtle_frame.cpp

│???├── turtlesim

│???│???└── __init__.py

│???└── turtlesim.cpp

├── srv

│???├── Kill.srv

│???├── SetPen.srv

│???├── Spawn.srv

│???├── TeleportAbsolute.srv

│???└── TeleportRelative.srv

└── tutorials

├── draw_square.cpp

├── mimic.cpp

└── teleop_turtle_key.cpp

10 directories, 42 files

這里并未在ros2中添加對應(yīng)2代版本小烏龜?shù)膱D片。

編譯環(huán)節(jié)：

ros1：catkin build

ros2：colcon build

命令使用：

ros1：

rosrun, rostopic ……

ros2：

ros2 run, ros2 topic ……

具體介紹如下：

ros2 is an extensible command-line tool for ROS 2.

optional arguments:

-h, --help ? ? ? ? ? ?show this help message and exit

Commands:

action ? ? Various action related sub-commands

component ?Various component related sub-commands

daemon ? ? Various daemon related sub-commands

launch ? ? Run a launch file

lifecycle ?Various lifecycle related sub-commands

msg ? ? ? ?Various msg related sub-commands

multicast ?Various multicast related sub-commands

node ? ? ? Various node related sub-commands

param ? ? ?Various param related sub-commands

pkg ? ? ? ?Various package related sub-commands

run ? ? ? ?Run a package specific executable

security ? Various security related sub-commands

service ? ?Various service related sub-commands

srv ? ? ? ?Various srv related sub-commands

topic ? ? ?Various topic related sub-commands

Call `ros2 -h` for more detailed usage.

對于ros1而言，啟動小烏龜并鍵盤遙控，需要如下步驟：

roscore

rosrun turtlesim turtlesim_node

rosrun turtlesim turtle_teleop_key

類比與ros2，我們可以使用如下命令：

roscore

注意ros2無需core

ros2 run turtlesim turtlesim_node

ros2 run turtlesim turtle_teleop_key

非常容易理解。

比如畫一個大圓：

ros2 topic pub /turtle1/cmd_vel ometry_msgs/msg/Twist "{linear: {x: 0.8, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.2}}"

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版權(quán)聲明：本文內(nèi)容由網(wǎng)絡(luò)用戶投稿，版權(quán)歸原作者所有，本站不擁有其著作權(quán)，亦不承擔(dān)相應(yīng)法律責(zé)任。如果您發(fā)現(xiàn)本站中有涉嫌抄襲或描述失實的內(nèi)容，請聯(lián)系我們jiasou666@gmail.com 處理，核實后本網(wǎng)站將在24小時內(nèi)刪除侵權(quán)內(nèi)容。