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ROScheatsheet catkin - ROS cheatsheet
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ROS Indigo Cheatsheet
Filesystem Management Tools
rospack A tool for inspecting packages. rospack profile Fixes path and pluginlib problems. roscd Change directory to a package. rospd/rosd Pushd equivalent for ROS. rosls Lists package or stack information. rosed Open requested ROS file in a text editor. roscp Copy a file from one place to another. rosdep Installs package system dependencies. roswtf Displays a errors and warnings about a running ROS system or launch file. catkin create pkg Creates a new ROS stack. wstool Manage many repos in workspace. catkin make Builds a ROS catkin workspace. rqt dep Displays package structure and depen- dencies.
Usage: $ rospack find [package] $ roscd [package[/subdir]] $ rospd [package[/subdir] | +N | -N] $ rosd $ rosls [package[/subdir]] $ rosed [package] [file] $ roscp [package] [file] [destination] $ rosdep install [package] $ roswtf or roswtf [file] $ catkin create pkg [package name] [depend1]..[dependN] $ wstool [init | set | update] $ catkin make $ rqt dep [options]
Start-up and Process Launch Tools
roscore
The basis nodes and programs for ROS-based systems. A roscore must be running for ROS nodes to communicate.
Usage: $ roscore
rosrun
Runs a ROS package’s executable with minimal typing.
Usage: $ rosrun package name executable name
Example (runs turtlesim): $ rosrun turtlesim turtlesim node
roslaunch
Starts a roscore (if needed), local nodes, remote nodes via SSH, and sets parameter server parameters.
Examples: Launch a file in a package: $ roslaunch package name file name Launch on a different port: $ roslaunch -p 1234 package name file name Launch on the local nodes: $ roslaunch --local package name file name
Logging Tools
rosbag
A set of tools for recording and playing back of ROS topics. Commands: rosbag record Record a bag file with specified topics. rosbag play Play content of one or more bag files. rosbag compress Compress one or more bag files. rosbag decompress Decompress one or more bag files. rosbag filter Filter the contents of the bag.
Examples: Record select topics: $ rosbag record topic1 topic Replay all messages without waiting: $ rosbag play -a demo log Replay several bag files at once: $ rosbag play demo1 demo2
Introspection and Command Tools
rosmsg/rossrv
Displays Message/Service (msg/srv) data structure definitions. Commands: rosmsg show Display the fields in the msg/srv. rosmsg list Display names of all msg/srv. rosmsg md5 Display the msg/srv md5 sum. rosmsg package List all the msg/srv in a package. rosmsg packages List all packages containing the msg/srv.
Examples: Display the Pose msg: $ rosmsg show Pose List the messages in the nav msgs package: $ rosmsg package nav msgs List the packages using sensor msgs/CameraInfo: $ rosmsg packages sensor msgs/CameraInfo
rosnode
Displays debugging information about ROS nodes, including publications, subscriptions and connections. Commands: rosnode ping Test connectivity to node. rosnode list List active nodes. rosnode info Print information about a node. rosnode machine List nodes running on a machine. rosnode kill Kill a running node.
Examples: Kill all nodes: $ rosnode kill -a List nodes on a machine: $ rosnode machine aqy Ping all nodes: $ rosnode ping --all
rostopic
A tool for displaying information about ROS topics, including publishers, subscribers, publishing rate, and messages. Commands: rostopic bw Display bandwidth used by topic. rostopic echo Print messages to screen. rostopic find Find topics by type. rostopic hz Display publishing rate of topic. rostopic info Print information about an active topic. rostopic list List all published topics. rostopic pub Publish data to topic. rostopic type Print topic type. Examples: Publish hello at 10 Hz: $ rostopic pub -r 10 /topic name std msgs/String hello Clear the screen after each message is published: $ rostopic echo -c /topic name Display messages that match a given Python expression: $ rostopic echo --filter "m==’foo’" /topic name Pipe the output of rostopic to rosmsg to view the msg type: $ rostopic type /topic name | rosmsg show
rosparam
A tool for getting and setting ROS parameters on the parameter server using YAML-encoded files. Commands: rosparam set Set a parameter. rosparam get Get a parameter. rosparam load Load parameters from a file. rosparam dump Dump parameters to a file. rosparam delete Delete a parameter. rosparam list List parameter names. Examples: List all the parameters in a namespace: $ rosparam list /namespace Setting a list with one as a string, integer, and float: $ rosparam set /foo "[’1’, 1, 1]" Dump only the parameters in a specific namespace to file: $ rosparam dump dump /namespace
rosservice
A tool for listing and querying ROS services. Commands: rosservice list Print information about active services. rosservice node Print name of node providing a service. rosservice call Call the service with the given args. rosservice args List the arguments of a service. rosservice type Print the service type. rosservice uri Print the service ROSRPC uri. rosservice find Find services by service type. Examples: Call a service from the command-line: $ rosservice call /add two ints 1 2 Pipe the output of rosservice to rossrv to view the srv type: $ rosservice type add two ints | rossrv show Display all services of a particular type: $ rosservice find rospy tutorials/AddTwoInts
ROS Indigo Cheatsheet
Logging Tools
rqt console
A tool to display and filtering messages published on rosout.
Usage: $ rqt console
rqt bag
A tool for visualizing, inspecting, and replaying bag files.
Usage, viewing: $ rqt bag bag file Usage, bagging: $ rqt bag press the big red record button.
rqt logger level
Change the logger level of ROS nodes. This will increase or decrease the information they log to the screen and rqt console.
Usage: viewing $ rqt logger level
Introspection & Command Tools
rqt topic
A tool for viewing published topics in real time.
Usage: $ rqt Plugin Menu->Topic->Topic Monitor
rqt msg, rqt srv, and rqt action
A tool for viewing available msgs, srvs, and actions.
Usage: $ rqt Plugin Menu->Topic->Message Type Browser Plugin Menu->Service->Service Type Browser Plugin Menu->Action->Action Type Browser
rqt publisher, and rqt service caller
Tools for publishing messages and calling services. Usage: $ rqt Plugin Menu->Topic->Message Publisher Plugin Menu->Service->Service Caller
rqt graph, and rqt dep
Tools for displaying graphs of running ROS nodes with connecting topics and package dependancies respectively.
Usage: $ rqt graph $ rqt dep
rqt top
A tool for ROS specific process monitoring. Usage: $ rqt Plugin Menu->Introspection->Process Monitor
rqt reconfigure
A tool for dynamically reconfiguring ROS parameters. Usage: $ rqt Plugin Menu->Configuration->Dynamic Reconfigure
Development Environments
rqt shell, and rqt py console
Two tools for accessing an xterm shell and python console respectively. Usage: $ rqt Plugin Menu->Miscellaneous Tools->Shell Plugin Menu->Miscellaneous Tools->Python Console
Data Visualization Tools
tf echo
A tool that prints the information about a particular transformation between a source frame and a target frame. Usage: $ rosrun tf tf echo <source frame> <target frame>
Examples: To echo the transform between /map and /odom: $ rosrun tf tf echo /map /odom
view frames
A tool for visualizing the full tree of coordinate transforms. Usage: $ rosrun tf2 tools view frames $ evince frames
rqt plot
A tool for plotting data from ROS topic fields.
Examples: To graph the data in different plots: $ rqt plot /topic1/field1 /topic2/field To graph the data all on the same plot: $ rqt plot /topic1/field1,/topic2/field To graph multiple fields of a message: $ rqt plot /topic1/field1:field2:field
rqt image view
A tool to display image topics.
Usage: $ rqt image view
ROScheatsheet catkin - ROS cheatsheet
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