https://github.com/ani717/ros2_tutorial

ROS 2 CLI Tutorial for Myself
https://github.com/ani717/ros2_tutorial

ros-foxy ros2

Last synced: 3 days ago
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ROS 2 CLI Tutorial for Myself

• Host: GitHub
• URL: https://github.com/ani717/ros2_tutorial
• Owner: ANI717
• Created: 2021-03-23T03:53:51.000Z (over 3 years ago)
• Default Branch: main
• Last Pushed: 2021-03-30T01:16:34.000Z (over 3 years ago)
• Last Synced: 2023-08-25T11:17:05.243Z (about 1 year ago)
• Topics: ros-foxy, ros2
• Language: Python
• Homepage:
• Size: 16.6 KB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
Reference: https://docs.ros.org/en/foxy/Tutorials.html

# ROS2 RUN

### ros2 run  

```

ros2 run turtlesim turtlesim_node

ros2 run turtlesim turtle_teleop_key

```

```

ros2 run turtlesim turtlesim_node --ros-args --remap __node:=my_turtle

```

### ros2 run   --ros-args --params-file 

```

ros2 run turtlesim turtlesim_node --ros-args --params-file ./turtlesim.yaml

```

# ROS2 NODE

```

ros2 node list

```

### ros2 node info 

```

ros2 node info /my_turtle

```

# RQT

```

rqt

rqt_graph

ros2 run rqt_console rqt_console

```

# ROS2 TOPIC

```

ros2 topic list

ros2 topic list -t

```

### ros2 topic echo 

```

ros2 topic echo /turtle1/cmd_vel

```

### ros2 topic info 

```

ros2 topic info /turtle1/cmd_vel

```

### ros2 interface show .msg

```

ros2 interface show geometry_msgs/msg/Twist

```

### ros2 topic pub   "args"

```

ros2 topic pub --once /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}"

ros2 topic pub --rate 1 /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}"

```

### ros2 topic hz 

```

ros2 topic hz /turtle1/pose

```

# ROS2 SERVICE

```

ros2 service list

ros2 service list -t

```

### ros2 service type 

```

ros2 service type /clear

```

```

ros2 service find std_srvs/srv/Empty

```

### ros2 interface show .srv

```

ros2 interface show std_srvs/srv/Empty.srv

```

### ros2 service call   "args"

```

ros2 service call /clear std_srvs/srv/Empty

ros2 service call /spawn turtlesim/srv/Spawn "{x: 2, y: 2, theta: 0.2, name: ''}"

```

# ROS2 PARAM

### ros2 param get  

```

ros2 param get /teleop_turtle scale_angular

ros2 param get /turtlesim background_g

```

### ros2 param set   "value"

```

ros2 param set /turtlesim background_r 150

```

### ros2 param dump 

```

ros2 param dump /turtlesim

```

# ROS2 ACTION

```

ros2 action list

ros2 action list -t

```

```

ros2 action info /turtle1/rotate_absolute

```

```

ros2 interface show turtlesim/action/RotateAbsolute.action

```

### ros2 action send_goal   "values"

```

ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute "{theta: 1.57}"

ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute "{theta: -1.57}" --feedback

```

# ROS2 Launch

### ros2 launch 

```

ros2 launch turtlesim_mimic_launch.py

```

### ros2 launch  

# Dependency Check

```

rosdep install --from-paths src --ignore-src --rosdistro dashing -y --skip-keys "console_bridge fastcdr fastrtps libopensplice67 libopensplice69 rti-connext-dds-5.3.1 urdfdom_headers"

```