ROS2 工具、Launch 与可视化

ros2 pkg create <package_name> --build-type <build-type> --dependencies <dependencies>

ros2 pkg list

ros2 pkg executables <pkg_name>

ros2 run <pkg_name> <node_name>

ros2 node list

ros2 node info <node_name>

ros2 topic list

ros2 topic info <topic_name>

ros2 topic type <topic_name>

ros2 topic hz <topic_name>

ros2 topic echo <topic_name>

ros2 topic pub <topic_name> <message_type> <message_content>

ros2 topic pub turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.5, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.2}}"

ros2 interface list

ros2 interface show <interface_name>

ros2 service list

ros2 interface call <service_name> <service_Type> <arguments>

ros2 service call /spawn turtlesim/srv/Spawn "{x: 2, y: 2, theta: 0.2, name: 'turtle10'}"

sudo apt install ros-${ROS_DISTRO}-turtlebot3*

sudo apt install ros-humble-ros-gz -y

export TURTLEBOT3_MODEL=waffle

# source /opt/ros/humble/setup.bash
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

rviz2

sudo apt install ros-${ROS_DISTRO}-rqt*

# Method 1: run `rqt` in the terminal
rqt

# Method 2
ros2 run rqt_gui rqt_gui

# Terminal 1:
ros2 run turtlesim turtlesim_node
# Terminal 2:
ros2 run turtlesim turtle_teleop_key
# Terminal 3:
rqt

cd ~/workspaces/src
ros2 pkg create learn_launch --build-type ament_python

from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
  node = Node(
  package='pkg_helloworld_py',
  executable='helloworld',
  output='screen'
  )
  return LaunchDescription([node])

# 1. Import the required header files
import os
from glob import glob

# 2. Add the `launch` path and its `launch.py` file to the `data_files` list
(os.path.join('share',package_name,'launch'),glob(os.path.join('launch','*launch.py')))

cd ~/workspaces
colcon build --packages-select learn_launch

# Refresh environment variables
source install/setup.bash
ros2 launch learn_launch single_node_launch.py

from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
  node = Node(
  package='pkg_helloworld_py',
  executable='helloworld',
  )
  return LaunchDescription([node])

return LaunchDescription([node])

from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
  publisher_node = Node(
  package='pkg_topic',
  executable='publisher_demo',
  output='screen'
  )
  subscriber_node = Node(
  package='pkg_topic',
  executable='subscriber_demo',
  output='screen'
  )
  return LaunchDescription([
  publisher_node,
  subscriber_node
  ])

colcon build --packages-select learn_launch

# Refresh environment variables
source install/setup.bash
ros2 launch learn_launch multi_node_launch.py

ros2 node list

from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
  publisher_node = Node(
  package='pkg_topic',
  executable='publisher_demo',
  output='screen',
  remappings=[("/topic_demo", "/topic_update")]
  )
  return LaunchDescription([
  publisher_node
  ])

colcon build --packages-select learn_launch

# ros2 launch learn_launch multi_node_launch.py
ros2 topic list

# Refresh the environment variables and run the remapped-topic program to observe the changes:
source install/setup.bash
ros2 launch learn_launch remap_name_launch.py
ros2 topic list

remappings=[("/topic_demo", "/topic_update")]

from launch import LaunchDescription
from launch_ros.actions import Node
import os
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from ament_index_python.packages import get_package_share_directory

def generate_launch_description():
  hello_launch = IncludeLaunchDescription(PythonLaunchDescriptionSource(
  [os.path.join(get_package_share_directory('learn_launch'), 'launch'),
  '/multi_node_launch.py']),
  )
  return LaunchDescription([
  hello_launch
  ])

colcon build --packages-select learn_launch

# Refresh environment variables
source install/setup.bash
ros2 launch learn_launch include_launch.py

# complex_launch.py
import os
from ament_index_python import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription
from launch.actions import GroupAction
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch.substitutions import TextSubstitution
from launch_ros.actions import Node
from launch_ros.actions import PushRosNamespace


def generate_launch_description():

  # args that can be set from the command line or a default will be used
  background_r_launch_arg = DeclareLaunchArgument(
  "background_r", default_value=TextSubstitution(text="0")
  )
  background_g_launch_arg = DeclareLaunchArgument(
  "background_g", default_value=TextSubstitution(text="255")
  )
  background_b_launch_arg = DeclareLaunchArgument(
  "background_b", default_value=TextSubstitution(text="0")
  )
  chatter_ns_launch_arg = DeclareLaunchArgument(
  "chatter_ns", default_value=TextSubstitution(text="my/chatter/ns")
  )

  # include another launch file
  launch_include = IncludeLaunchDescription(
  PythonLaunchDescriptionSource(
  os.path.join(
  get_package_share_directory('demo_nodes_cpp'),
  'launch/topics/talker_listener.launch.py'))
  )
  # include another launch file in the chatter_ns namespace
  launch_include_with_namespace = GroupAction(
  actions=[
  # push-ros-namespace to set namespace of included nodes
  PushRosNamespace(LaunchConfiguration('chatter_ns')),
  IncludeLaunchDescription(
  PythonLaunchDescriptionSource(
  os.path.join(
  get_package_share_directory('demo_nodes_cpp'),
  'launch/topics/talker_listener.launch.py'))
  ),
  ]
  )

  # start a turtlesim_node in the turtlesim1 namespace
  turtlesim_node = Node(
  package='turtlesim',
  namespace='turtlesim1',
  executable='turtlesim_node',
  name='sim'
  )

  # start another turtlesim_node in the turtlesim2 namespace
  # and use args to set parameters
  turtlesim_node_with_parameters = Node(
  package='turtlesim',
  namespace='turtlesim2',
  executable='turtlesim_node',
  name='sim',
  parameters=[{
  "background_r": LaunchConfiguration('background_r'),
  "background_g": LaunchConfiguration('background_g'),
  "background_b": LaunchConfiguration('background_b'),
  }]
  )

  # perform remap so both turtles listen to the same command topic
  forward_turtlesim_commands_to_second_turtlesim_node = Node(
  package='turtlesim',
  executable='mimic',
  name='mimic',
  remappings=[
  ('/input/pose', '/turtlesim1/turtle1/pose'),
  ('/output/cmd_vel', '/turtlesim2/turtle1/cmd_vel'),
  ]
  )

  return LaunchDescription([
  background_r_launch_arg,
  background_g_launch_arg,
  background_b_launch_arg,
  chatter_ns_launch_arg,
  launch_include,
  launch_include_with_namespace,
  turtlesim_node,
  turtlesim_node_with_parameters,
  forward_turtlesim_commands_to_second_turtlesim_node,
  ])

colcon build --packages-select learn_launch

# source install/setup.bash
ros2 launch learn_launch complex_launch.py

ros2 run turtlesim turtle_teleop_key --ros-args -r __ns:=/turtlesim1

<launch>

  <!-- args that can be set from the command line or a default will be used -->
  <arg name="background_r" default="0"/>
  <arg name="background_g" default="255"/>
  <arg name="background_b" default="0"/>
  <arg name="chatter_ns" default="my/chatter/ns"/>

  <!-- include another launch file -->
  <include file="$(find-pkg-share demo_nodes_cpp)/launch/topics/talker_listener.launch.py"/>
  <!-- include another launch file in the chatter_ns namespace-->
  <group>
  <!-- push-ros-namespace to set namespace of included nodes -->
  <push-ros-namespace namespace="$(var chatter_ns)"/>
  <include file="$(find-pkg-share demo_nodes_cpp)/launch/topics/talker_listener.launch.py"/>
  </group>

  <!-- start a turtlesim_node in the turtlesim1 namespace -->
  <node pkg="turtlesim" exec="turtlesim_node" name="sim" namespace="turtlesim1"/>
  <!-- start another turtlesim_node in the turtlesim2 namespace
  and use args to set parameters -->
  <node pkg="turtlesim" exec="turtlesim_node" name="sim" namespace="turtlesim2">
  <param name="background_r" value="$(var background_r)"/>
  <param name="background_g" value="$(var background_g)"/>
  <param name="background_b" value="$(var background_b)"/>
  </node>
  <!-- perform remap so both turtles listen to the same command topic -->
  <node pkg="turtlesim" exec="mimic" name="mimic">
  <remap from="/input/pose" to="/turtlesim1/turtle1/pose"/>
  <remap from="/output/cmd_vel" to="/turtlesim2/turtle1/cmd_vel"/>
  </node>
</launch>

(os.path.join('share',package_name,'launch'),glob(os.path.join('launch','*launch.xml'))),

cd ~/workspaces
colcon build --packages-select learn_launch

# ros2 launch learn_launch complex_launch.xml

ros2 run turtlesim turtle_teleop_key --ros-args -r __ns:=/turtlesim1

launch:

# args that can be set from the command line or a default will be used
- arg:
  name: "background_r"
  default: "0"
- arg:
  name: "background_g"
  default: "255"
- arg:
  name: "background_b"
  default: "0"
- arg:
  name: "chatter_ns"
  default: "my/chatter/ns"


# include another launch file
- include:
  file: "$(find-pkg-share demo_nodes_cpp)/launch/topics/talker_listener.launch.py"

# include another launch file in the chatter_ns namespace
- group:
  - push-ros-namespace:
  namespace: "$(var chatter_ns)"
  - include:
  file: "$(find-pkg-share demo_nodes_cpp)/launch/topics/talker_listener.launch.py"

# start a turtlesim_node in the turtlesim1 namespace
- node:
  pkg: "turtlesim"
  exec: "turtlesim_node"
  name: "sim"
  namespace: "turtlesim1"

# start another turtlesim_node in the turtlesim2 namespace and use args to set parameters
- node:
  pkg: "turtlesim"
  exec: "turtlesim_node"
  name: "sim"
  namespace: "turtlesim2"
  param:
  -
  name: "background_r"
  value: "$(var background_r)"
  -
  name: "background_g"
  value: "$(var background_g)"
  -
  name: "background_b"
  value: "$(var background_b)"

# perform remap so both turtles listen to the same command topic
- node:
  pkg: "turtlesim"
  exec: "mimic"
  name: "mimic"
  remap:
  -
  from: "/input/pose"
  to: "/turtlesim1/turtle1/pose"
  -
  from: "/output/cmd_vel"
  to: "/turtlesim2/turtle1/cmd_vel"

(os.path.join('share',package_name,'launch'),glob(os.path.join('launch','*launch.yaml'))),

colcon build --packages-select learn_launch

# Refresh environment variables
source install/setup.bash
ros2 launch learn_launch complex_launch.yaml

ros2 run turtlesim turtle_teleop_key --ros-args -r __ns:=/turtlesim1