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cs:ros:tutorials:start [2016/09/09 18:09] James Irwin [Command Line Tools] |
cs:ros:tutorials:start [2016/09/23 21:34] Brandon Kallaher [ROS Tutorials] |
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===== ROS Tutorials ===== | ===== ROS Tutorials ===== | ||
- | + | The [[ros>ROS/Tutorials|official ROS tutorials]] are very comprehensive, however I found the way they present ROS to a beginner results in a very steep learning curve. Here is our own set of tutorials, which are a work in progress. I may reference tutorials from other sites if I find them useful. | |
- | ===== ROS Tutorials ===== | + | |
- | This wiki is a simplified | + | |
==== Pre-requisites ==== | ==== Pre-requisites ==== | ||
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ROS has a few different commands that are useful for moving and looking around. They are typically in the form: | ROS has a few different commands that are useful for moving and looking around. They are typically in the form: | ||
<code bash> | <code bash> | ||
- | <command> <package_name> <...> | + | $ <command> <package_name> <...> |
</code> | </code> | ||
Most are based on the typical navigation functions: | Most are based on the typical navigation functions: | ||
* roscd | * roscd | ||
* rosls | * rosls | ||
+ | |||
+ | === Starting nodes === | ||
+ | == Starting a single node == | ||
+ | While you can manually find the executable (or python script) and run it manually, ROS provides a tool for quickly finding and starting a node, the ''rosrun'' command: | ||
+ | <code bash> | ||
+ | $ rosrun <package_name> <node_name> | ||
+ | </code> | ||
+ | |||
+ | == Starting multiple nodes == | ||
+ | The ''roslaunch'' command allows you to launch multiple nodes at the same time. The nodes are specified in a special file called a launch file. | ||
+ | <code bash> | ||
+ | $ rosrun <package_name> <launchfile_name> | ||
+ | </code> | ||
+ | More information about launch files can be found [[|here]] | ||
+ | |||
+ | |||
=== Viewing active nodes and topics === | === Viewing active nodes and topics === | ||
+ | The ''rosnode'' command shows information about nodes. You can view all currently running nodes by running | ||
+ | <code bash> | ||
+ | $ rosnode list | ||
+ | </code> | ||
+ | |||
+ | Likewise, the ''rostopic'' command shows information about topics. You can view all currently active topics by running | ||
+ | <code bash> | ||
+ | $ rostopic list | ||
+ | </code> | ||
+ | |||
+ | === How to Write a ROS Node === | ||
+ | Check out these tutorials for whatever language you're using: [[ros>ROS/Tutorials/WritingPublisherSubscriber(c%2B%2B) | C++ ]] | ||
+ | [[ros>ROS/Tutorials/WritingPublisherSubscriber(python) | Python ]] |