ROS报告PPT.ppt

Company Logo PR2 open a door Laboratory for Cognitive Technologies Company Logo How to us C++and Python in ROS $ rosed beginner_tutorials CMakeLists.txt rosbuild_add_executable(talker src/talker.cpp) rosbuild_add_executable(listener src/listener.cpp) $ make $ rosrun beginner_tutorials talker __name:=talker (C++) $ rosrun beginner_tutorials listener __name:=listener (C++) Company Logo Nodes and Topic $ roscore $ rosrun turtlesim turtlesim_node $ rosrun turtle_teleop turtle_teleop_key Company Logo $ rxgraph Company Logo $ rostopic echo /turtle1/command_velocity --- linear: 2.0 angular: 0.0 --- linear: 2.0 angular: 0.0 --- linear: 2.0 angular: 0.0 --- Company Logo $ rostopic echo /turtle1/command_velocity $ rostopic pub -1 /turtle1/command_velocity turtlesim/Velocity -- 2.0 1.8 Company Logo $ rostopic pub /turtle1/command_velocity turtlesim/Velocity -r 1 -- 2.0 -1.8 $ rostopic hz /turtle1/pose $ rostopic hz /turtle1/pose Company Logo Company Logo Using rostopic hz $ rostopic hz /turtle1/pose subscribed to [/turtle1/pose] average rate: 59.354 min: 0.005s max: 0.027s std dev: 0.00284s window: 58 average rate: 59.459 min: 0.005s max: 0.027s std dev: 0.00271s window: 118 average rate: 59.539 min: 0.004s max: 0.030s std dev: 0.00339s window: 177 Company Logo Using rxplot $ rxplot /turtle1/pose/x,/turtle1/pose/y /turtle1/pose/theta Company Logo Using Rxconsole Roslaunch $ rxloggerlevel $ rxconsole $ rosrun turtlesim turtlesim_node rostopic pub turtle1/command_velocity turtlesim/Velocity -r 1 -- 2.0 0.0 Company Logo rostopic pub turtle1/command_velocity turtlesim/Velocity -r 1 -- 2.0 0.0 Company Logo $ roslaunch [package] [filename.launch] $ roscd beginner_tutorials $ mkdir launch $ cd launch $ roslaunch beginner_tutorials turtlemimic.launch Company Logo $ rostopic pub turtlesim1/turtle1/command_velocity turtlesim/Velocity -r 1 -- 2.0 -1.8 $ rxgraph Company Logo XML(eXtensible Markup Language) XML defines r