ROS: Difference between revisions
| (5 intermediate revisions by the same user not shown) | |||
| Line 1: | Line 1: | ||
[http://wiki.ros.org/Documentation ROS] is a network-capable software platform for robotics, capable of managing processes (nodes), and exchanging information between them. | [http://wiki.ros.org/Documentation ROS] is a network-capable software platform for robotics, capable of managing processes (nodes), and exchanging information between them. Releases are named, with the current 12th release being Melodic Morenia (typically referred to as Melodic, released 2018-05-23). | ||
==ROS on [[Debian]]== | |||
ROS Melodic supports Debian 9 ("stretch") with binary packages. Installation instructions can be found [http://wiki.ros.org/Installation/Debian here]. Debian Unstable requires building from [http://wiki.ros.org/Installation/Source source]. | |||
==Concepts== | ==Concepts== | ||
| Line 16: | Line 19: | ||
* [http://wiki.ros.org/Parameter%20Server Parameter]: a key in the global configuration dictionary | * [http://wiki.ros.org/Parameter%20Server Parameter]: a key in the global configuration dictionary | ||
** XMLRPC data types | ** XMLRPC data types | ||
* [http://wiki.ros.org/Bags Bag]: a recorded/pregenerated set of messages that can be replayed | |||
==Names== | ==Names== | ||
| Line 24: | Line 28: | ||
* ~private (the node's name replaces the tilde) | * ~private (the node's name replaces the tilde) | ||
Names can furthermore be [http://wiki.ros.org/Remapping%20Arguments remapped] when a node is started by e.g. rosrun. | Names can furthermore be [http://wiki.ros.org/Remapping%20Arguments remapped] when a node is started by e.g. <code>rosrun</code>. | ||
* Special case: launch node into namespace with <code>__ns</code> | * Special case: launch node into namespace with <code>__ns</code> | ||
* Special case: change node name with variable <code>__name</code> | * Special case: change node name with variable <code>__name</code> | ||
** To launch barnode with the name barnode3: | ** To launch barnode with the name barnode3: <code>roslaunch foopkg barnode __name:=barnode3</code> | ||
==Executables== | ==Executables== | ||
| Line 35: | Line 39: | ||
* [http://wiki.ros.org/rosnode rosnode]: manage running nodes | * [http://wiki.ros.org/rosnode rosnode]: manage running nodes | ||
** <code>rosnode list</code> lists running nodes | ** <code>rosnode list</code> lists running nodes | ||
** <code> | ** <code>rosnode info</code> displays information about a running node | ||
* [http://wiki.ros.org/rostopic rostopic]: interact with topics using YAML | * [http://wiki.ros.org/rostopic rostopic]: interact with topics using YAML | ||
** <code>rostopic list</code> will list active topics on a running rosmaster | ** <code>rostopic list</code> will list active topics on a running rosmaster | ||
| Line 42: | Line 46: | ||
* [http://wiki.ros.org/rosmsg rosmsg]: display information about message types | * [http://wiki.ros.org/rosmsg rosmsg]: display information about message types | ||
* [http://wiki.ros.org/rosmsg#rossrv rossrv]: display information about services | * [http://wiki.ros.org/rosmsg#rossrv rossrv]: display information about services | ||
* [http://wiki.ros.org/rospack rospack]: display information about packages | |||
* rosversion: display version of available packages | |||
* [http://wiki.ros.org/rosbag rosbag]: replay and inspect bags | |||