--- --- restore content begins
This article assumes that you already have ROS development environment, whether it is in fact the source code or installation using the installation package installation of ROS, are the same.
First, create a workspace and complete the appropriate settings work
1, the new directory, you must include the subdirectory src
mkdir -p ~/catkin_wks/src
2, initialize the preliminary work space, create links to local files and to /opt/ros/melodic/share/catkin/cmake/toplevel.cmake
cd catkin_wks/src/ && catkin_init_workspace
returned messages:
Creating symlink "/home/openlib/catkin_wks/src/CMakeLists.txt" pointing to "/opt/ros/melodic/share/catkin/cmake/toplevel.cmake"
3, re-initialize the workspace
cd ../ && catkin_make
returned messages:
Base path: /home/openlib/catkin_wks
Source space: /home/openlib/catkin_wks/src
Build space: /home/openlib/catkin_wks/build
Devel space: /home/openlib/catkin_wks/devel
Install space: /home/openlib/catkin_wks/install
####
#### Running command: "cmake /home/openlib/catkin_wks/src -DCATKIN_DEVEL_PREFIX=/home/openlib/catkin_wks/devel -DCMAKE_INSTALL_P
REFIX=/home/openlib/catkin_wks/install -G Unix Makefiles" in "/home/openlib/catkin_wks/build"
####
-- The C compiler identification is GNU 7.4.0
-- The CXX compiler identification is GNU 7.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/openlib/catkin_wks/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/melodic
-- This workspace overlays: /opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.15", minimum required is "2")
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/openlib/catkin_wks/build/test_results
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.15")
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.17
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- Configuring done
-- Generating done
-- Build files have been written to: /home/openlib/catkin_wks/build
####
#### Running command: "make -j4 -l4" in "/home/openlib/catkin_wks/build"
####
When prompted, if you use c ++ development ROS nodes, you must execute the command. Otherwise, you may ignore it, skip:
cd build/ && make -j8 -l8
Configuring the terminal environment, this is a one-time configuration:
cd ../ && source devel/setup.bash
4, the terminal permanently configured workspace, as long as the terminal is opened automatically configured workspace: The source ~ / catkin_wks / devel / setup.bash write file .bashrc
echo "source ~/catkin_wks/devel/setup.bash" >> ~/.bashrc
Second, create a package:
Ros no matter code, data, documents are managed in the form of packets; packets are generally located in the work area of the src directory; create a successful package contains at least two files CMakeLists.txt and package.xml file, a directory src subdirectory; the so-called package management is just another name and directory management to; src python code in the main storage
1, create a package, create a name for myAwesomeCode package, and that package depends rospy package, if there is more dependence, together with the back, can constitute a dependency list:
cd ~/catkin_wks/src/ && catkin_create_pkg myAwesomeCode rospy
Return information, a message complaining about not contain uppercase letters, personal habits using capital letters in the word at the division, and some people like to split underlined, ros prefer the latter:
WARNING: Package name "myAwesomeCode" does not follow the naming conventions. It should start with a lower case letter and only
contain lower case letters, digits, underscores, and dashes.
Created file myAwesomeCode/CMakeLists.txt
Created file myAwesomeCode/package.xml
Created folder myAwesomeCode/src
Successfully created files in /home/openlib/catkin_wks/src/myAwesomeCode. Please adjust the values in package.xml.
Follow the prompts, create a visible package in the src directory in the main workspace to create a complete package of the same name to create letters, and create two files under CMakeLists.txt and package.xml create a directory and subdirectory under the src directory create
Which CMakeLists.txt content:
cmake_minimum_required(VERSION 2.8.3)
project(myAwesomeCode)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
rospy
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES myAwesomeCode
# CATKIN_DEPENDS rospy
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/myAwesomeCode.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/myAwesomeCode_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_myAwesomeCode.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
The document was in preparation for the next camke, if you need cmake, the file will be crucial.
There are disposed find_package (), add_message_files () generate_messages () catkin_package () method
The package.xml content:
<?xml version="1.0"?> <package format="2"> <name>myAwesomeCode</name> <version>0.0.0</version> <description>The myAwesomeCode package</description> <!-- One maintainer tag required, multiple allowed, one person per tag --> <!-- Example: --> <!-- <maintainer email="[email protected]">Jane Doe</maintainer> --> <maintainer email="[email protected]">openlib</maintainer> <!-- One license tag required, multiple allowed, one license per tag --> <!-- Commonly used license strings: --> <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 --> <license>TODO</license> <!-- Url tags are optional, but multiple are allowed, one per tag --> <!-- Optional attribute type can be: website, bugtracker, or repository --> <!-- Example: --> <!-- <url type="website">http://wiki.ros.org/myAwesomeCode</url> --> <!-- Author tags are optional, multiple are allowed, one per tag --> <!-- Authors do not have to be maintainers, but could be --> <!-- Example: --> <!-- <author email="[email protected]">Jane Doe</author> --> <!-- The *depend tags are used to specify dependencies --> <!-- Dependencies can be catkin packages or system dependencies --> <!-- Examples: --> <!-- Use depend as a shortcut for packages that are both build and exec dependencies --> <!-- <depend>roscpp</depend> --> <!-- Note that this is equivalent to the following: --> <!-- <build_depend>roscpp</build_depend> --> <!-- <exec_depend>roscpp</exec_depend> --> <!-- Use build_depend for packages you need at compile time: --> <!-- <build_depend>message_generation</build_depend> --> <!-- Use build_export_depend for packages you need in order to build against this package: --> <!-- <build_export_depend>message_generation</build_export_depend> --> <!-- Use buildtool_depend for build tool packages: --> <!-- <buildtool_depend>catkin</buildtool_depend> --> <!-- Use exec_depend for packages you need at runtime: --> <!-- <exec_depend>message_runtime</exec_depend> --> <!-- Use test_depend for packages you need only for testing: --> <!-- <test_depend>gtest</test_depend> --> <!-- Use doc_depend for packages you need only for building documentation: --> <!-- <doc_depend>doxygen</doc_depend> --> <buildtool_depend>catkin</buildtool_depend> <build_depend>rospy</build_depend> <build_export_depend>rospy</build_export_depend> <exec_depend>rospy</exec_depend> <!-- The export tag contains other, unspecified, tags --> <export> <!-- Other tools can request additional information be placed here --> </export> </package>
This document describes the content interact with catkin packet, comprising nine parts:
1, the package name
2, version number
3, Functional Description
4, the maintenance and repair information
5, the program license information
6, URL information package
7, the authors of information
8, the package dependency information
9, other relevant information
Third, create code
Skip this step first
Fourth, a running example code to view the information running
The first open a terminal run: roscore
returned messages:
... logging to /home/openlib/.ros/log/a8243616-f3bc-11e9-97b3-3464a91cb6c2/roslaunch-developz-5178.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://developz:40643/
ros_comm version 1.14.3
SUMMARY
========
PARAMETERS
* /rosdistro: melodic
* /rosversion: 1.14.3
NODES
auto-starting new master
process[master]: started with pid [5188]
ROS_MASTER_URI=http://developz:11311/
setting /run_id to a8243616-f3bc-11e9-97b3-3464a91cb6c2
WARNING: Package name "myAwesomeCode" does not follow the naming conventions. It should start with a lower case letter and only c
ontain lower case letters, digits, underscores, and dashes.
process[rosout-1]: started with pid [5199]
started core service [/rosout]
rosrun format: rosrun packageName executName [ARGS]
The second terminal is operating open: rosrun rospy_tutorials talker
returned messages:
rosrun rospy_tutorials talker
[INFO] [1571632778.697190]: hello world 1571632778.7
[INFO] [1571632778.797637]: hello world 1571632778.8
[INFO] [1571632778.897323]: hello world 1571632778.9
[INFO] [1571632778.997688]: hello world 1571632779.0
[INFO] [1571632779.097660]: hello world 1571632779.1
[INFO] [1571632779.197704]: hello world 1571632779.2
[INFO] [1571632779.297709]: hello world 1571632779.3
[INFO] [1571632779.397694]: hello world 1571632779.4
[INFO] [1571632779.497683]: hello world 1571632779.5
[INFO] [1571632779.597744]: hello world 1571632779.6
[INFO] [1571632779.697699]: hello world 1571632779.7
[INFO] [1571632779.797760]: hello world 1571632779.8
[INFO] [1571632779.897667]: hello world 1571632779.9
[INFO] [1571632779.997731]: hello world 1571632780.0
[INFO] [1571632780.097680]: hello world 1571632780.1
[INFO] [1571632780.197637]: hello world 1571632780.2
[INFO] [1571632780.297651]: hello world 1571632780.3
[INFO] [1571632780.397748]: hello world 1571632780.4
[INFO] [1571632780.497736]: hello world 1571632780.5
[INFO] [1571632780.597785]: hello world 1571632780.6
[INFO] [1571632780.697701]: hello world 1571632780.7
[INFO] [1571632780.797470]: hello world 1571632780.8
[INFO] [1571632780.897671]: hello world 1571632780.9
[INFO] [1571632780.997640]: hello world 1571632781.0
[INFO] [1571632781.097389]: hello world 1571632781.1
[INFO] [1571632781.197665]: hello world 1571632781.2
[INFO] [1571632781.297650]: hello world 1571632781.3
[INFO] [1571632781.397795]: hello world 1571632781.4
Open the third terminal run: rosrun rospy_tutorials listener
returned messages:
rosrun rospy_tutorials listener
[INFO] [1571632853.901133]: /listener_5587_1571632853679I heard hello world 1571632853.9
[INFO] [1571632853.998517]: /listener_5587_1571632853679I heard hello world 1571632854.0
[INFO] [1571632854.100438]: /listener_5587_1571632853679I heard hello world 1571632854.1
[INFO] [1571632854.201572]: /listener_5587_1571632853679I heard hello world 1571632854.2
[INFO] [1571632854.301579]: /listener_5587_1571632853679I heard hello world 1571632854.3
[INFO] [1571632854.401040]: /listener_5587_1571632853679I heard hello world 1571632854.4
[INFO] [1571632854.501363]: /listener_5587_1571632853679I heard hello world 1571632854.5
[INFO] [1571632854.600271]: /listener_5587_1571632853679I heard hello world 1571632854.6
[INFO] [1571632854.701491]: /listener_5587_1571632853679I heard hello world 1571632854.7
[INFO] [1571632854.801139]: /listener_5587_1571632853679I heard hello world 1571632854.8
[INFO] [1571632854.901557]: /listener_5587_1571632853679I heard hello world 1571632854.9
[INFO] [1571632855.001366]: /listener_5587_1571632853679I heard hello world 1571632855.0
[INFO] [1571632855.101437]: /listener_5587_1571632853679I heard hello world 1571632855.1
[INFO] [1571632855.200990]: /listener_5587_1571632853679I heard hello world 1571632855.2
[INFO] [1571632855.301296]: /listener_5587_1571632853679I heard hello world 1571632855.3
[INFO] [1571632855.401455]: /listener_5587_1571632853679I heard hello world 1571632855.4
[INFO] [1571632855.501047]: /listener_5587_1571632853679I heard hello world 1571632855.5
[INFO] [1571632855.601032]: /listener_5587_1571632853679I heard hello world 1571632855.6
[INFO] [1571632855.701651]: /listener_5587_1571632853679I heard hello world 1571632855.7
[INFO] [1571632855.801294]: /listener_5587_1571632853679I heard hello world 1571632855.8
[INFO] [1571632855.901156]: /listener_5587_1571632853679I heard hello world 1571632855.9
[INFO] [1571632856.001304]: /listener_5587_1571632853679I heard hello world 1571632856.0
[INFO] [1571632856.101461]: /listener_5587_1571632853679I heard hello world 1571632856.1
[INFO] [1571632856.201528]: /listener_5587_1571632853679I heard hello world 1571632856.2
[INFO] [1571632856.301237]: /listener_5587_1571632853679I heard hello world 1571632856.3
[INFO] [1571632856.401189]: /listener_5587_1571632853679I heard hello world 1571632856.4
[INFO] [1571632856.501317]: /listener_5587_1571632853679I heard hello world 1571632856.5
[INFO] [1571632856.601370]: /listener_5587_1571632853679I heard hello world 1571632856.6
[INFO] [1571632856.701299]: /listener_5587_1571632853679I heard hello world 1571632856.7
[INFO] [1571632856.801316]: /listener_5587_1571632853679I heard hello world 1571632856.8
[INFO] [1571632856.901329]: /listener_5587_1571632853679I heard hello world 1571632856.9
[INFO] [1571632856.999119]: /listener_5587_1571632853679I heard hello world 1571632857.0
[INFO] [1571632857.101316]: /listener_5587_1571632853679I heard hello world 1571632857.1
Open the fourth terminal run: rqt_graph
returned messages:
rqt_graph
WARNING: Package name "myAwesomeCode" does not follow the naming conventions. It should start with a lower case letter and only c
ontain lower case letters, digits, underscores, and dashes.
WARNING: Package name "myAwesomeCode" does not follow the naming conventions. It should start with a lower case letter and only c
ontain lower case letters, digits, underscores, and dashes.
It is obvious that ROS complete link talker and the listener, without manual operation.
If a new terminal to open, each running: rosrun rospy_tutorials listener and rosrun rospy_tutorials talker, the ROS is as follows:
ROS again completed automatically linked with the increase of nodes, ROS automatically linked nodes.
Five, roslaunch
ros naming objects include: node name, topic name, service name, parameter name, the file system name, URL and other areas that require network naming occasions
Namespace: the same file name, file name can be distinguished by the complete path name of different file system namespace is actually in a different space can achieve the same file access method
In one step, the node runs is no name, if necessary for operation of the node name, needs remapping, any name string can be remapped during operation, as follows:
rosrun packageName nodeName __name:=reName
Image on a large number of nodes running step, be a tedious, it can be started simultaneously by a plurality of nodes roslaunch, and can be started automatically roscore, if the launch file:
1 <launch> 2 <node name="talker" pkg="rospy_tutorials" 3 type="talker.py" output="screen" 4 <node name="listener" pkg="rospy_tutorials" 5 type="listener.py" output="screen" 6 </launch>
The code is very simple, it is not explained:
In the following manner roslaunch start: roslaunch myAwesomeCode talkerListener.launch
returned messages:
roslaunch myAwesomeCode talkerListener.launch
WARNING: Package name "myAwesomeCode" does not follow the naming conventions. It should start with a lower case letter and only
contain lower case letters, digits, underscores, and dashes.
... logging to /home/openlib/.ros/log/145cbbf6-f3c1-11e9-97b3-3464a91cb6c2/roslaunch-developz-6687.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://developz:33981/
SUMMARY
========
PARAMETERS
* /rosdistro: melodic
* /rosversion: 1.14.3
NODES
/
listener (rospy_tutorials/listener.py)
talker (rospy_tutorials/talker.py)
auto-starting new master
process[master]: started with pid [6697]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 145cbbf6-f3c1-11e9-97b3-3464a91cb6c2
WARNING: Package name "myAwesomeCode" does not follow the naming conventions. It should start with a lower case letter and only
contain lower case letters, digits, underscores, and dashes.
process[rosout-1]: started with pid [6708]
started core service [/rosout]
process[talker-2]: started with pid [6711]
process[listener-3]: started with pid [6716]
[INFO] [1571634621.762217]: hello world 1571634621.76
[INFO] [1571634621.862642]: hello world 1571634621.86
[INFO] [1571634621.864881]: /listenerI heard hello world 1571634621.86
[INFO] [1571634621.962878]: hello world 1571634621.96
[INFO] [1571634621.966170]: /listenerI heard hello world 1571634621.96
[INFO] [1571634622.062767]: hello world 1571634622.06
[INFO] [1571634622.064886]: /listenerI heard hello world 1571634622.06
[INFO] [1571634622.162911]: hello world 1571634622.16
[INFO] [1571634622.166505]: /listenerI heard hello world 1571634622.16
[INFO] [1571634622.262787]: hello world 1571634622.26
[INFO] [1571634622.265489]: /listenerI heard hello world 1571634622.26
[INFO] [1571634622.362876]: hello world 1571634622.36
[INFO] [1571634622.366536]: /listenerI heard hello world 1571634622.36
[INFO] [1571634622.462900]: hello world 1571634622.46
[INFO] [1571634622.466564]: /listenerI heard hello world 1571634622.46
[INFO] [1571634622.562905]: hello world 1571634622.56
[INFO] [1571634622.566677]: /listenerI heard hello world 1571634622.56
[INFO] [1571634622.662811]: hello world 1571634622.66
[INFO] [1571634622.665812]: /listenerI heard hello world 1571634622.66
[INFO] [1571634622.762784]: hello world 1571634622.76
[INFO] [1571634622.765788]: /listenerI heard hello world 1571634622.76
[INFO] [1571634622.862793]: hello world 1571634622.86
[INFO] [1571634622.865732]: /listenerI heard hello world 1571634622.86
[INFO] [1571634622.962961]: hello world 1571634622.96
[INFO] [1571634622.966587]: /listenerI heard hello world 1571634622.96
[INFO] [1571634623.062986]: hello world 1571634623.06
[INFO] [1571634623.066693]: /listenerI heard hello world 1571634623.06
[INFO] [1571634623.162897]: hello world 1571634623.16
[INFO] [1571634623.166561]: /listenerI heard hello world 1571634623.16
[INFO] [1571634623.262857]: hello world 1571634623.26
[INFO] [1571634623.266166]: /listenerI heard hello world 1571634623.26
[INFO] [1571634623.362838]: hello world 1571634623.36
[INFO] [1571634623.366183]: /listenerI heard hello world 1571634623.36
[INFO] [1571634623.462509]: hello world 1571634623.46
[INFO] [1571634623.463750]: /listenerI heard hello world 1571634623.46
[INFO] [1571634623.562706]: hello world 1571634623.56
[INFO] [1571634623.565608]: /listenerI heard hello world 1571634623.56
[INFO] [1571634623.662868]: hello world 1571634623.66
[INFO] [1571634623.666602]: /listenerI heard hello world 1571634623.66
[INFO] [1571634623.762868]: hello world 1571634623.76
[INFO] [1571634623.766270]: /listenerI heard hello world 1571634623.76
[INFO] [1571634623.862859]: hello world 1571634623.86
[INFO] [1571634623.866399]: /listenerI heard hello world 1571634623.86
[INFO] [1571634623.963012]: hello world 1571634623.96
[INFO] [1571634623.966053]: /listenerI heard hello world 1571634623.96
[INFO] [1571634624.062842]: hello world 1571634624.06
[INFO] [1571634624.066249]: /listenerI heard hello world 1571634624.06
[INFO] [1571634624.162686]: hello world 1571634624.16
It may be implemented in a terminal, and a terminal to open a series of nodes, and automatically open roslaunch roscore, and sequentially node running, most preferably, by using ctrl + c simultaneously terminate all nodes running the file through the launch
In ros, because a large number of command input, the last multi-press the tab key, when accustomed to completion, will be very dependent on the characteristics of.