Article directory
1.rosnode
1.1 rosnode ping
1.1.1 Test the connection status of all nodes
rosnode ping --all
1.1.2 Test the connection status to a certain node
rosnode ping /<node-name>
- Note the slash
1.2 rosnode list
rosnode list
- list active nodes
1.3 rosnode info
rosnode info /<node-name>
- View a node information
1.4 rosnode machine
1.4.1 List all devices
rosnode machine
1.4.2 View the running nodes on the specified device
rosnode machine <machine-name>
1.5 rosnode kill
1.5.1 End all node processes
rosnode kill --all
1.5.2 List all nodes and select the node to end the process
rosnode kill
1.5.3 Ending a node process
rosnode kill /<node-name>
1.6 rosnode cleanup
rosnode cleanup
- Clean up unconnectable node processes
2. rostopic
2.1 round echo
rostopic echo /<topic-name>
- Listen to the news of a topic and display it
- Optional parameters
--offset：Display time in messages as offset from current time (e.g. to calculate lag/latency).
-c：Clear the screen after each message is published. Cannot be used with -p.
-b：Display messages in a bag file:
2.2 rotopic list
rostopic list
- List all active topics
- Optional parameters:
-b：List topics in a bag file.
-p：List only publishers.
-s：List only subscribers.
2.3 rostopic info
rostopic info /<topic-name>
- List information about a topic
2.4 rostopic type
rostopic type /<topic-name>
- List the types of messages published by a topic
2.5 rostopic find
rostopic find <package-name>/<message-name>
- Find topics based on message type
2.6 rostopic bw
rostopic bw /<topic-name>
- Display the bandwidth of a topic
2.7 rostopic delay
rostopic delay /<topic-name>
- Show topic delay with header
2.8 rostopic hz
rostopic hz /<topic-name>
- Shows how often a topic is posted
3.rosmsg
3.1 rosmsg show
rosmsg show /<message-type>
- Display the definition of a message type
- Optional parameters
-r：Display the raw msg definition.
3.2 rosmsg packages
rosmsg packages
- List all packages containing the message
- Optional parameters
-s：Display all packages on a single line. Useful for backtick invocations.
3.3 rosmsg package
rosmsg package /<package-name>
- List all message types under a package
- Optional parameters
-s：Display all packages on a single line. Useful for backtick invocations.
3.4 rosmsg users
rosmsg users /<message-type>
- Find all source code files that use a certain message type
4.rosservice
4.1 rosservice args
rosservice args /<service-name>
- Display the parameters of a request in a service
4.2 rosservice list
rosservice list
- List all active services
- Optional parameters:
-n：Include the name of the node that implements the service.
4.3 rosservice info
rosservice info <service-name>
- Print information about services
4.4 rosservice find
rosservice find <package-name>/<service-type>
- Find the name of a service containing this type according to the type of service
4.5 rosservice type
rosservice type <service-type>
- Based on the name of the service, give the type of service
5. rossrv
5.1 rossrv show
rossrv show <package-name>/<service-name>
- Display the definition of a service
5.2 rossrv packages
rossrv packages
- List all packages containing services
5.3 rossrv package
rossrv package /<package-name>
- List all services under a package
6.rosparam
6.1 rosparam list
rosparam list
- list all parameters
6.2 rosparam set
rosparam set <parameter-name> [parameter-value]
- Setting parameters
6.3 rosparam get
rosparam get <parameter-name>
- Get the value of the parameter
6.4 rosparam delete
rosparam delete <parameter-name>
- delete parameter
6.5 rosparam load
rosparam load <yaml-file>
- To load parameters from an external file, first prepare the yaml file
6.6 rosparam dump
rosparam dump <yaml-file>
- write out arguments to external file