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ROS Cheat Sheet
Python (KMM102E)
Istanbul Teknik Üniversitesi
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ROS Cheat Sheet
Filesystem Command-line Tools
rospack/rosstack A tool inspecting packages/stacks. roscd Changes directories to a package or stack. rosls Lists package or stack information. roscreate-pkg Creates a new ROS package. roscreate-stack Creates a new ROS stack. rosdep Installs ROS package system dependen- cies. rosmake Builds a ROS package. roswtf Displays a errors and warnings about a running ROS system or launch file. rxdeps Displays package structure and depen- dencies.
Usage: $ rospack find [package] $ roscd [package[/subdir]] $ rosls [package[/subdir]] $ roscreate-pkg [package name] $ rosmake [package] $ rosdep install [package] $ roswtf or roswtf [file] $ rxdeps [options]
Common Command-line Tools
roscore
A collection of nodes and programs that are pre-requisites of a ROS-based system. You must have a roscore running in order for ROS nodes to communicate.
roscore is currently defined as: master parameter server rosout
Usage: $ roscore
rosmsg/rossrv
rosmsg/rossrv displays Message/Service (msg/srv) data structure definitions. Commands: rosmsg show Display the fields in the msg. rosmsg users Search for code using the msg. rosmsg md5 Display the msg md5 sum. rosmsg package List all the messages in a package. rosnode packages List all the packages with messages.
Examples: Display the Pose msg: $ rosmsg show Pose List the messages in nav msgs: $ rosmsg package nav msgs List the files using sensor msgs/CameraInfo: $ rosmsg users sensor msgs/CameraInfo
rosrun
rosrun allows you to run an executable in an arbitrary package without having to cd (or roscd) there first.
Usage: $ rosrun package executable
Example: Run turtlesim: $ rosrun turtlesim turtlesim node
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 particular ma- chine. rosnode kill Kills a running node.
Examples: Kill all nodes: $ rosnode kill -a List nodes on a machine: $ rosnode machine aqy Ping all nodes: $ rosnode ping --all
roslaunch
Starts ROS nodes locally and remotely via SSH, as well as setting parameters on the parameter server.
Examples: Launch on a different port: $ roslaunch -p 1234 package filename Launch a file in a package: $ roslaunch package filename Launch on the local nodes: $ roslaunch --local package filename
rostopic
A tool for displaying debug 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 hz Display publishing rate of topic. rostopic list Print information about active topics. rostopic pub Publish data to topic. rostopic type Print topic type. rostopic find Find topics by 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 the name of the 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
Logging Command-line Tools
rosbag
This is a set of tools for recording from and playing back to ROS topics. It is intended to be high performance and avoids deserialization and reserializationof the messages.
rosbag record will generate a “.bag” file (so named for historical reasons) with the contents of all topics that you pass to it.
Examples: Record all topics: $ rosbag record -a Record select topics: $ rosbag record topic1 topic
rosbag play will take the contents of one or more bag file, and play them back in a time-synchronized fashion.
Examples: Replay all messages without waiting: $ rosbag play -a demo log Replay several bag files at once: $ rosbag play demo1 demo2
Graphical Tools
rxgraph
Displays a graph of the ROS nodes that are currently running, as well as the ROS topics that connect them.
Usage: $ rxgraph
rxplot
A tool for plotting data from one or more ROS topic fields using matplotlib.
Examples: To graph the data in different plots: $ rxplot /topic1/field1 /topic2/field To graph the data all on the same plot: $ rxplot /topic1/field1,/topic2/field To graph multiple fields of a message: $ rxplot /topic1/field1:field2:field
rxbag
A tool for visualizing, inspecting, and replaying histories (bag files) of ROS messages.
Usage: $ rxbag bag file
rxconsole
A tool for displaying and filtering messages published on rosout.
Usage: $ rxconsole
tf Command-line 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 tf view frames $ evince frames
Copyright ©c 2010 Willow Garage
ROS Cheat Sheet
Course: Python (KMM102E)
University: Istanbul Teknik Üniversitesi
