YeeKal
ros

ros begining

YeeKal • •
"#ros"

create a workspace

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin_make
$ source devel/setup.bash

a catkin package

$ catkin_create_pkg beginner_tutorials std_msgs rospy roscpp
# This is an example, do not try to run this
# catkin_create_pkg <package_name> [depend1] [depend2] [depend3]

$ cd ~/catkin_ws
$ catkin_make
$ source devel/setup.bash
$ catkin_make --pkg <pk-a> <pk-b>

command line

node/topic/msg no space in "" topics

$ rosrun rqt_graph rqt_graph

moveit concepts pipline

  • moveit
  • edit CMakeLists.txt and package.xml to add support include files
  • rvizvisualtoolsgui to give the command
  • markeyarray : rviz_visual_tools ; or the connection can't be established.
- Class: rviz/MarkerArray
    Enabled: true
    Marker Topic: /rviz_visual_tools
    Name: MarkerArray

or:
  add `MarkerArray` then settings

同一个窗口 source一次可能不能使用其他的包，还需要在source其它包之后再重新编译。

tf

rosrun tf tf_echo /graber_4t_link /graber_end rosrun tf view_frames //监听当前时刻所有通过ros广播的tf坐标

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