ROS command

ROS Huawei source image

Common commands

• ctrl+h： Call hidden file
• ctrl + shift + b： You can compile programs
• ctrl+c： Auto output , It means the end of the program
• **ctrl( On the right hand side )+f：** Adaptively resize the interface
• ros rely on ：roscpp rospy std_msgs
• tab： A filling
• rqt_graph： Start the calculation chart
• rostopic echo fang： Print the data published by the current publisher
• pwd： Find the path to the file , You need to click on this file , then Right click and select Open... In the terminal , Input again pwd.
• The source file name is consistent with the mapping name
• argc： Represents the total number of parameters passed in , In this case , The first 1 The first parameter is the program name , The first 2、3 The parameters are 12,34. common 3 Parameters （ Service communications There are examples ）.argc[0] It must be the name of the program , Contains the full path where the program is located .
• char* argv[]： Is an array , Each element stores a pointer , It is the address of the parameter that goes in .
• cd demo02_ws： Start the current workspace
• Add space , two tab key , Can appear rosservice call addInts “num1: 0 num2: 0” addInts Later
• Ctrl + ` (esc Key below ) : Open default terminal , The interface remains in the state before closing
• ctrl + alt + T : Open a new terminal
• shift + ctrl + T : Open a new terminal at the same level of the current terminal （ That is, there are two tabs in the same terminal ）
• package.xml： You can add dependent function packages ——roscpp,rospy,std_msgs

Run program steps

(1) General situation

roscore
source ./devel/setup.bash —— Refresh environment variable
rosrun + ( file name )hello_vscode( Mapping name ) hello_vscode_c

After revising CMakeLists.txt after
The first run roscore
And then there was cd demo02_ws/
And finally source ./devel/setup.bash
Then rosrun+ Function package name ：rosrun plumbing_pub_sub demo01_pub（ There is no log output after running ）

(2) Multi node file

stay vscode It uses launch File starts multiple nodes at the same time ：
source ./devel/setup.bash
roslaunch hello_vscode start_turtle.launch

(3) Python file

scripts At the completion of python After procedure , need Add executable rights , Right click scripts Select open in terminal , Do the following

chmod +x *.py
ll

debugging

rosrun plumbing_pub_sub demo01_pub_p.py
rostopic echo che

Realization

rosrun plumbing_pub_sub demo01_pub_p.py
rosrun plumbing_pub_sub demo02_sub_p.py

find_package effect ： If you compile a customized Feature Pack plumbing_pub_sub You have to rely on find_package Function package inside . meanwhile find_package The function package inside depends on catkin_package Function package inside , It is better to add message_runtime

In the terminal that is not closed , Press the up arrow to use the previously entered command

Input main, Then choose No 2 individual , Automatic completion , Get rid of const Modifier , That's all right.

The mouse points to the empty number ,ctrl+shift+ You can see the definition in the space

When creating a new function package , Be sure to add dependencies , Namely ****roscpp rospy std_msgs

add_dependencies(demo03_pub_person${PROJECT_NAME}_generate_messages_cpp) effect ： First of all msg Compiled , Then it is called by the main program

tool kit

1. increase

catkin_create_pkg Custom package name Dependency package === Create a new ROS Function pack

sudo apt install xxx === install ROS Function pack

2. Delete

sudo apt purge xxx ==== Delete a feature pack

3. check

rospack list === List all feature packs

rospack find Package name === Find out if a feature package exists , If present, return to the installation path

roscd Package name === Enter a function package

rosls Package name === List the files under a package

apt search xxx === Search for a feature pack

4. Change

rosed Package name file name === Modify the function pack file

Need to install vim

such as :rosed turtlesim Color.msg

File configuration

To configure C++ file

1. vscode To configure

To configure c_cpp_properies.json file , If the workspace has been configured before and has not been changed , You can ignore

{
    
    "configurations": [
        {
    
            "browse": {
    
                "databaseFilename": "",
                "limitSymbolsToIncludedHeaders": true
            },
            "includePath": [
                "/opt/ros/noetic/include/**",
                "/usr/include/**",
                "/xxx/yyy working space /devel/include/**" // To configure  head  Path to file  
            ],
            "name": "ROS",
            "intelliSenseMode": "gcc-x64",
            "compilerPath": "/usr/bin/gcc",
            "cStandard": "c11",
            "cppStandard": "c++17"
        }
    ],
    "version": 4
}

Here it is devel In the document , Right click the function package and select open in the terminal , Use pwd You can find the file path .

/home/rosnoetic/demo02_ws/devel/include/plumbing_server_client

2. To configure CMakeList.txt

There are three parts

add_executable(AddInts_Server src/AddInts_Server.cpp)
add_executable(AddInts_Client src/AddInts_Client.cpp)


add_dependencies(AddInts_Server ${
    PROJECT_NAME}_gencpp)
add_dependencies(AddInts_Client ${
    PROJECT_NAME}_gencpp)


target_link_libraries(AddInts_Server
  ${
    catkin_LIBRARIES}
)
target_link_libraries(AddInts_Client
  ${
    catkin_LIBRARIES}
)

To configure python file

1. vscode To configure

Get into settings.json file , If the workspace has been configured before and has not been changed , You can ignore

{
    
    "python.autoComplete.extraPaths": [
        "/opt/ros/noetic/lib/python3/dist-packages",
    ]
}

2. Set the permissions

Right click scripts, choice Access terminal perform

chmod +x *.py
ll

3. To configure CMakeList.txt

catkin_install_python(PROGRAMS
  scripts/AddInts_Server_p.py 
  scripts/AddInts_Client_p.py
  DESTINATION ${
    CATKIN_PACKAGE_BIN_DESTINATION}
)