基本
roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key
rqt_graph
rostopic echo /turtle1/cmd_vel
rostopic type /turtle1/cmd_vel
rostopic pub /turtle1/cmd_vel geometry_msgs/Twist -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 1.8]'
rostopic pub -r 1 /turtle1/cmd_vel geometry_msgs/Twist -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, -1.8]'
rostopic list
rosservice list
rosservice type /spawn | rossrv show
rosservice call /spawn 2 3 1 ""
rosparam list
rosparam get /background_b
rosparam set /backgroun_r 200
rosservice call /clear
rqt_console
パッケージ作成
cd ~/catkin_ws/src
catkin_create_pkg ros_start rospy roscpp std_msgs
cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash
roscd ros_start
