zhangningboo / ros

新建工程

# 创建工作空间
➜  workspace git:(main) ✗ mkdir -p project_name/src
➜  workspace git:(main) ✗ cd project_name/src
➜  src git:(main) ✗ catkin_init_workspace
➜  src git:(main) ✗ sed -i '' CMakeLists.txt
# 创建包
➜  src git:(main) ✗ catkin_create_pkg package_name
# 设置环境
➜  src git:(main) ✗ cd ..
➜  project_name git:(main) ✗ catkin_make
➜  project_name git:(main) ✗ source devel/setup.zsh

qt工具包

➜  ros git:(master) ✗ sudo apt install ros-kinetic-rqt ros-kinetic-rqt-common-plugins

工具

• $ rqt_console 日志可视化
• $ rqt_graph 计算图
• $ rqt_plot 数据绘图
• $ rosrun rqt_reconfigure rqt_reconfigure 参数动态配置

rviz 工具包

➜  ros git:(master) ✗ sudo apt install ros-kinetic-rviz
➜  ros git:(master) ✗ roscore
➜  ros git:(master) ✗ rosrun rviz rviz

gazebo 仿真

➜  ros git:(master) ✗ sudo apt install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control 
➜  ros git:(master) ✗ roscore
➜  ros git:(master) ✗ rosrun gazebo_ros gazebo

rosbag 数据录制与回放

➜  ros git:(master) ✗ mkdir ~/bagfiles
➜  ros git:(master) ✗ cd ~/bagfiles
# 录制
➜  ros git:(master) ✗ rosbag record -a
# 回放
➜  ros git:(master) ✗ rosbag info ${bag_name}