ROS 学习- 基本命令

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1. catkin_make 编译指定的包.
   
2. $ catkin_make -DCATKIN_WHITELIST_PACKAGES="package1;package2"
   
3. 
   
4. 恢复编译所有的包
5. $ catkin_make -DCATKIN_WHITELIST_PACKAGES=""

执行roslaunch命令行时，会自动运行roscore命令，因此使用启动文件运行节点时不需要新开终端运行roscore。

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1. rostopic list #列出话题
   
2. rostopic echo 话题 #接收话题

编译时出现 .msg: Invalid declaration: 类型 变量. 切记 <类型 变量>之间的分割为空格 不能是tab.

Built-in types:

Primitive Type	Serialization	C++	Python2	Python3
bool (1)	unsigned 8-bit int	uint8_t (2)	bool
int8	signed 8-bit int	int8_t	int
uint8	unsigned 8-bit int	uint8_t	int (3)
int16	signed 16-bit int	int16_t	int
uint16	unsigned 16-bit int	uint16_t	int
int32	signed 32-bit int	int32_t	int
uint32	unsigned 32-bit int	uint32_t	int
int64	signed 64-bit int	int64_t	long	int
uint64	unsigned 64-bit int	uint64_t	long	int
float32	32-bit IEEE float	float	float
float64	64-bit IEEE float	double	float
string	ascii string (4)	std::string	str	bytes
time	secs/nsecs unsigned 32-bit ints	ros::Time	rospy.Time
duration	secs/nsecs signed 32-bit ints	ros::Duration	rospy.Duration

查看两个frame的坐标系转化关系
rosrun tf tf_echo base_link map
rosrun tf tf_monitor base_link map

命令行发布一个topic
rostopic pub /crash_jump_cmd std_msgs/Empty

ROS_INFO等没有输出的情况:
https://stackoverflow.com/questions/28020473/how-to-output-the-following-result-to-terminal 

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1. 制作文件 custom_rosconsole.conf
   
2. 
   
3. # Set the default ros output to warning and higher
   
4. log4j.logger.ros=WARN
   
5. # Override my package to output everything (Change the level to fit your needs)
   
6. log4j.logger.ros.你的包名=DEBUG
   
7. 
   
8. 1. 在bash环境下
   
9. export ROSCONSOLE_CONFIG_FILE=<config_file_path>/custom_rosconsole.conf
   
10. 
    
11. 2. 或者在 launch 文件中.
    
12. <launch>
    
13.   <env name="ROSCONSOLE_CONFIG_FILE"
    
14.        value="$(find mypackage)/custom_rosconsole.conf"/>
    
15.   <node pkg="mypackage" type="mynode" name="mynode" output="screen"/>
    
16. </launch>
    
17. 
    
18. 还有一种是在代码中设置.
    
19. #include <ros/console.h>
    
20. if (ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Debug)) { // Change the level to fit your needs
    
21.    ros::console::notifyLoggerLevelsChanged();
    
22. }