Book Image

ROS Robotics By Example

Book Image

ROS Robotics By Example

Overview of this book

The visionaries who created ROS developed a framework for robotics centered on the commonality of robotic systems and exploited this commonality in ROS to expedite the development of future robotic systems. From the fundamental concepts to advanced practical experience, this book will provide you with an incremental knowledge of the ROS framework, the backbone of the robotics evolution. ROS standardizes many layers of robotics functionality from low-level device drivers to process control to message passing to software package management. This book provides step-by-step examples of mobile, armed, and flying robots, describing the ROS implementation as the basic model for other robots of these types. By controlling these robots, whether in simulation or in reality, you will use ROS to drive, move, and fly robots using ROS control.
Table of Contents (17 chapters)
ROS Robotics By Example
Credits
About the Authors
About the Reviewer
www.PacktPub.com
Preface
Index

ROS commands summary


If you are communicating with ROS via the terminal window, it is possible to issue commands to ROS to explore or control nodes in a package from the command prompt, as listed in the following table:

Command

Action

Example usage and subcommand examples

roscore

This starts the Master

$ roscore

rosrun

This runs an executable program and creates nodes

$ rosrun [package name] [executable name]

rosnode

This shows information about nodes and lists the active nodes

$ rosnode info [node name]

$ rosnode <subcommand>

Subcommand: list

rostopic

This shows information about ROS topics

$ rostopic <subcommand> <topic name>

Subcommands: echo, info, and type

rosmsg

This shows information about the message types

$ rosmsg <subcommand> [package name]/ [message type]

Subcommands: show, type, and list

rosservice

This displays the runtime information about various services and allows the display of messages being sent to a topic

$ rosservice <subcommand> [service name]

Subcommands: args, call, find, info, list, and type

rosparam

This is used to get and set parameters (data) used by nodes

$ rosparam <subcommand> [parameter]

Subcommands: get, set, list, and delete

The website (http://wiki.ros.org/ROS/CommandLineTools) describes many ROS commands. The table lists some important ones. However, these examples only cover a few of the possible variations of the commands.