ros2 node list
nico-beyer / ROS2 Workshop HTWK
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ROS2 Workshop HTWK
ROS2 Workshop HTWK
ROS2
Node
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ros2 node info <node_name> |
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ros2 run <package> <executable> |
Topics
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ros2 topic list |
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ros2 topic echo <topic> |
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ros2 topic info <topic> |
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ros2 topic pub <topic> <msg_type> "<value>" |
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ros2 topic info –verbose <topic> |
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ros2 topic pub /cmd_vel geometry_msgs/msg/Twist “{linear: {x: 0.3}, angular: {z: 0.0}}” |
Sourcing
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source /opt/ros/$ROS_DISTRO/setup.bash |
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source install/setup.bash |
Colcon (Build Tool)
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colcon build → always execute in your workspace folder |
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colcon build –packages-select <name> |
Launch
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ros2 launch <package> <launch_file> |
Interface
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ros2 interface list |
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ros2 interface show <msg_type> |
Workspace
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mkdir -p ros2_ws/src |
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cd ros2_ws |
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colcon build |
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source install/setup.bash |
Packages
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sudo apt install ros-$ROS_DISTRO-<package_name> |
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sudo apt install ros-$ROS_DISTRO-turtle-nest |
Tools
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rqt → GUI-Toolsammlung |
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rqt_graph → Graph der Nodes/Topics |
Parameter
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ros2 param list |
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ros2 param get <node> <param> |
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ros2 param set <node> <param> <value> |
Service
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ros2 service list |
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ros2 service type <service> |
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ros2 service call <srv_type> “{…}” |
Bags
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ros2 bag record <topic_name> |
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ros2 bag record -a – alle Topics aufzeichnen |
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ros2 bag info <bag_file_name> |
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ros2 bag play <bag_file> |