There are few nodes to start in the robot system , More than a dozen 、 Dozens of , Different nodes have different names , Use topics when communicating 、 service 、 news 、 Parameters and so on are different ,ROS Some practical command line tools are provided in , It can be used to obtain all kinds of information of different nodes , Common commands are as follows :

• rosnode： Operation node
• rostopic： Operation topic
• rosservice： Operational services
• rosmsg： operation msg news
• rossrv： operation srv news
• rosparam： Operating parameters

These commands are different from the previous file operation commands , File manipulation commands are static , Operating on files on disk , The above commands are dynamic , It can be ROS After the program starts, it dynamically obtains the relevant information of the nodes or parameters in the operation .

1 rosnode

rosnode ping     Test the connection status to the node 
rosnode list     List active nodes 
rosnode info     Print node information 
rosnode machine     Lists the nodes on the specified device 
rosnode kill     Kill a node 
rosnode cleanup     Clear unconnected nodes 

2 rostopic

rostopic Used to display information about ROS Debugging information for the subject , Including publisher , subscriber , Release frequency and ROS news .

rostopic bw      Shows the bandwidth used by the theme 
rostopic delay   Display with  header  Topic delay 
rostopic echo    Print message to screen 
rostopic find    Find topics by type 
rostopic hz      Displays how often the topic is published 
rostopic info    Displays information about the topic 
rostopic list    Show all active topics 
rostopic pub     Publish data to topics 
example: rostopic pub / Subject name   Message type   The message content 
rostopic type    Print subject type 

3 rosmsg

rosmsg Is used to display information about ROS Command line tool for message type information .

rosmsg show     Displays the message description 
example: rosmsg show  Message name 
rosmsg info     Display message information 
rosmsg list     List all messages 
rosmsg md5      Show  md5  Encrypted message , A verification algorithm , Ensure the consistency of data transmission 
rosmsg package     Display all messages under a function package 
example: rosmsg package  Package name  
rosmsg packages     List the feature packs that contain messages 

4 rosservice

rosservice Contains information for listing and querying rosServices Command line tools for .
When calling some services , If the relevant workspace is not configured path, You need to enter the workspace to call source ./devel/setup.bash.

rosservice args     Print service parameters 
rosservice call     Call the service with the supplied parameters 
rosservice find     Find services by service type 
rosservice info     Print information about the service 
rosservice list     List all active services 
rosservice type     Print service type 
rosservice uri      Printing service  ROSRPC uri

5 rossrv

rossrv Is used to display information about ROS Command line tool for service type information , And rosmsg The usage syntax is highly similar .

rossrv show     Display service message details 
rossrv info     Display service message related information 
rossrv list     List all service information 
rossrv md5      Show md5 Encrypted service message 
rossrv package     Display all service messages under a package 
rossrv packages     Show all packages containing service messages 

6 rosparam

rosparam For the use of YAML The encoding file is obtained and set on the parameter server ROS Parameters .

rosparam set     Set parameters 
rosparam get     To obtain parameters 
rosparam load     Load parameters from external files 
example：rosparam load xxx.yaml
rosparam dump     Write out the parameters to an external file 
example：rosparam dump yyy.yaml
rosparam delete     Delete parameters 
example：rosparam delete name Delete the name name Parameters of 
rosparam list     List all parameters