ros - modrpc/info GitHub Wiki
- ROS webpage: http://www.ros.org/
- ROS wiki: http://wiki.ros.org/
- Core ROS tutorials: http://wiki.ros.org/ROS/Tutorials
- CHEAT SHEET: https://github.com/modrpc/info/blob/master/docs/roscheatsheet.pdf
- Packages: unit of deployment
- must contain catkin-compliant package.xml file
- must contain CMakeLists.txt which uses catkin
-
package: software organization unit of ROS code; each package contains libraries, executables, scripts, or other artifacts
- manifest (package.xml): description of a package -- define depedencies between packages and contains meta info (e.g. version, license,maintainer, etc.)
- stack: stack is a collection of packages
- rospack: get-info/find packages in the system
- roscreate-pkg: create a new package
- rosmake: compile a package
- rosdep: install system dependencies of a package
- rxdeps: see package dependencies as a graph
- roscd: change directory
- rosed: edit a file
- roscp: copy file from package
- rosd: list directories of a package
- rosls: list files from a package
- roscreate-stack: create a new stack
- list of <type,></type,>'s
- rosmsg: prints out the message definition info
- describes request/response interaction between nodes
-
calling a service: package name + service name
- e.g. sample_pkg1/srv/sample1.srv (OR sample_pkg1/sample1)
- rossrv: prints service descriptions, packages that contain .srv files, and find source files that use a service type
- ROS creates a network where all processes are connected.
- name registration and lookup for rest of the nodes
- (key, value) lookup service
- allows to have data stored using keys in a central location
- allows to configure nodes
- nodes communicate through messages (this is just a mechanism)
- when a node is sending data, we say node is publishing a topic
- nodes can receive topics when it subscribes it
- topic is more like a newsgroup -- nobody owns it
rosnode info /turtlesim Node: /turtlesim Publications:
/turtle1/color_sensor turtlesim/Color /rosout rosgraph_msgs/Log /turtle1/pose turtlesim/Pose
Subscriptions:
/turtle1/command_velocity unknown-type
Services:
/turtle1/teleport_absolute /turtlesim/get_loggers /turtlesim/set_logger_level /reset /spawn /clear /turtle1/set_pen /turtle1/teleport_relative /kill
contacting node http://aaronmr-laptop:42791/ Pid: 28337 Connections:
topic: /rosout to: /rosout direction: outbound transport: TCPROS