目录
ROS常用命令
常用命令
ROS多机通信步骤
虚拟机中添加镜像源
TX2中添加镜像源
ROS常用命令
rostopic list 命令查看当前系统中有哪些 topic。
rostopic info 命令查看该 topic 的信息，包括它的数据类型、发布者数量等。
rostopic hz 命令查看该 topic 的发布频率。
rosnode list 命令查看当前系统中有哪些节点。
rosnode info 命令查看该节点的信息，包括它的 PID、运行状态等。
rqt_graph 命令查看当前系统中节点之间的连接关系。
rostopic+echo+/chatter：查看话题chatter消息。
rosrun+功能包名+节点名：运行ROS节点。
创建工作空间
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
编译工作空间
cd ~/catkin_ws
catkin_make
source devel/setup.bash 设置环境变量
创建功能包
cd ~/catkin_ws/src
catkin_create_pkg learning_topic std_msgs rospy roscpp geometry_msgs
编译功能包
cd ~/catkin_ws
catkin_make
source devel/setup.bash或 采用
echo "source /home/sps/sps/catkin_sps_ws/devel/setup.bash">>~/.bashrc
检查环境变量
echo $ROS_PACKAGE_PATH
Ubuntu常用命令
hostname：查看本机名称。
ifconfig：查看网络ip。
ssh远程登陆:
ssh 用户名@IP地址。文件权限：sudo chmod 777 file。
df -h：查看磁盘空间。
ROS多机通信步骤
需求：TX2 发布话题，虚拟机订阅话题，采用ROS分布式方式。设备：TX2 ubuntu18.04.6、虚拟机ubuntu18.04.6。
1、配置网络
a、将虚拟机网络设置为桥接模式，其他模式均不可。
虚拟机设置-->网络适配器-->桥接模式 虚拟机菜单栏：编辑-->虚拟网络编辑器-->添加网络-->选择桥接模式-->选择对应的网卡（例如Inter(R) Ethernet Connection(23) I219-V）即可。
b、设置网络名称
查看本机与从机的hostname与ip，其命令分别为：hostname、ifconfig。
修改虚拟机hosts文件：sudo vim /etc/hosts，虚拟机中添加TX2的ip和hostname，如ip+ hostname，10.46.10.60 ubuntu，TX2中添加虚拟机的hostname和ip，如ip + hostname，10.46.10.61 virtual-machine。
c、修改bash
修改bash命令：sudo vim ~/.bashrc，添加：export ROS_MASTER_URI=http://tx2:11311，source生效：source ~/.bashrc。
d、互ping虚拟机与tx2
在虚拟机中: ping tx2 ；在TX2中:ping virtual-machine，如果能ping通，则表明网络正常。
e、tx2中启动master
在tx2中启动master：roscore，在虚拟机中查看话题：rostopic list，若能看到话题列表说明配置成功。
虚拟机中添加镜像源
运行命令：sudo vim /etc/apt/sources.list
# deb cdrom:[Ubuntu 18.04.6 LTS _Bionic Beaver_ - Release amd64 (20210915)]/ bionic main restricted
# See http://help.ubuntu.com/community/UpgradeNotes for how to upgrade to
# newer versions of the distribution.
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted
# deb-src http://cn.archive.ubuntu.com/ubuntu/ bionic main restricted
## Major bug fix updates produced after the final release of the
## distribution.
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted
# deb-src http://cn.archive.ubuntu.com/ubuntu/ bionic-updates main restricted
## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu
## team. Also, please note that software in universe WILL NOT receive any
## review or updates from the Ubuntu security team.
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic universe
# deb-src http://cn.archive.ubuntu.com/ubuntu/ bionic universe
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates universe
# deb-src http://cn.archive.ubuntu.com/ubuntu/ bionic-updates universe
## N.B. software from this repository is ENTIRELY UNSUPPORTED by the Ubuntu
## team, and may not be under a free licence. Please satisfy yourself as to
## your rights to use the software. Also, please note that software in
## multiverse WILL NOT receive any review or updates from the Ubuntu
## security team.
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic multiverse
# deb-src http://cn.archive.ubuntu.com/ubuntu/ bionic multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates multiverse
# deb-src http://cn.archive.ubuntu.com/ubuntu/ bionic-updates multiverse
## N.B. software from this repository may not have been tested as
## extensively as that contained in the main release, although it includes
## newer versions of some applications which may provide useful features.
## Also, please note that software in backports WILL NOT receive any review
## or updates from the Ubuntu security team.
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
# deb-src http://cn.archive.ubuntu.com/ubuntu/ bionic-backports main restricted universe multiverse
## Uncomment the following two lines to add software from Canonical's
## 'partner' repository.
TX2中添加镜像源
运行命令：sudo vim /etc/apt/sources.list
## newer versions of some applications which may provide useful features.
## Also, please note that software in backports WILL NOT receive any review
## or updates from the Ubuntu security team.
#deb http://ports.ubuntu.com/ubuntu-ports/ bionic-backports main restricted universe multiverse
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic-backports main restricted universe multiverse
## Uncomment the following two lines to add software from Canonical's
## 'partner' repository.
## This software is not part of Ubuntu, but is offered by Canonical and the
## respective vendors as a service to Ubuntu users.
# deb http://archive.canonical.com/ubuntu bionic partner
# deb-src http://archive.canonical.com/ubuntu bionic partner
#deb http://ports.ubuntu.com/ubuntu-ports/ bionic-security main restricted
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic-security main restricted
#deb http://ports.ubuntu.com/ubuntu-ports/ bionic-security universe
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic-security universe
#deb http://ports.ubuntu.com/ubuntu-ports/ bionic-security multiverse
# deb-src http://ports.ubuntu.com/ubuntu-ports/ bionic-security multiverse
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main multiverse restricted universe
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main multiverse restricted universe
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main multiverse restricted universe
deb http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main multiverse restricted universe
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic main multiverse restricted universe
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-security main multiverse restricted universe
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-updates main multiverse restricted universe
deb-src http://mirrors.tuna.tsinghua.edu.cn/ubuntu-ports/ bionic-backports main multiverse restricted universe
