一、海龟控制1.启动海龟仿真器roscore rosrun turtlesim turtlesim_node 2.海龟控制节点rosrun turtlesim turtle_teleop_key 3.通过发布话题控制海龟移动rostopic pub -r 10 /turtle1/cmd_vel geometry_msgs/Twist "linear": x:0.0 y:0.0 z:0.0 angular: x:0.0 y:0.0 z:0.0 注：通过修改x、y、z的值进行控制 4.通过调用服务产生第二只海龟rosservice call /spawn "x:0.0 y:0.0 theta:0.0 name:''" 注：name后面的''中需要输入名称 5.刷新rosservice call /clear "{}"二、创建工作空间mkdir -p ~/catkin_ws/src cd ~/catkin_ws/src catkin_init_workspace cd ~/catkin_ws catkin_make source devel/setup.bash 三、创建功能包cd ~/catkin_ws/src catkin_create_pkg xxx_pkg std_msgs rospy roscpp cd ~/catkin_ws catkin_make source ~/catkin_ws/devel/setup.bash 四、编译运行c++文件1.编译c++文件g++ xxx.cpp -o xxx_for #xxx_for为可执行文件名称 2.运行可执行文件./xxx_for 五、话题记录与复现1.话题记录rosbag record -a -O 压缩包名称 2.话题复现rosbag play 压缩包名称.bag 六、启动rviz可视化工具roscore rviz 七、调用摄像头1.usb_camroscore roslaunch usb_cam usb_cam-test.launch 2.uvc_camroscore rosrun uvc_camera uvc_camera_node 显示： rosrun image image_view image_view image:=/image_raw |
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