ROS详解（一）：安装和常见操作

1. BUILD

1 2	catkin_make_isolated --only-pkg-with-deps [your_packages] --use-ninja catkin_make --only-pkg-with-deps [your_package] -DCMAKE_BUILD_TYPE=Release

Refresh WorkingSpace

1	source devel/setup.sh

rosparam

1 2	rosparam get /use_sim_time rosparam set /use_sim_time true

rosbag play

1 2	rosbag play [your_bag] -l --clock --pause -r 0.8 rosbag info [your_bag]

Convert pcap to rosbag

1 2	rosrun ve lodyne_driver velodyne_node _model:=VLP16 [32E] _pcap:=/your/file.pcap _read_once:=true rosrun rosbag record -O your_output.bag -a [/velodyne_packets]

Initialize Workspace

mkdir catkin_ws
cd catkin_ws
wstool init src
wstool update -t src

How to Create a package

1 2	cd catkin_ws/src catkin_create_pkg [package-name]

Start ROS server

roscore

rostopic

rostopic echo /velodyne_points | grep frame_id
rostopic echo /tf | grep frame_id
rostopic list
rosrun rviz rviz
rosbag record [topic1] [topic2] -O bagfile.bag

rviz

1 2	rviz rosrun rviz rviz

1	<remap from="original_defined_topic" to="acturally_used_topic" / >

1	roslaunch loam_velodyne loam_velodyne.launch

1	roslaunch velodyne_pointcloud 64e_points-2.launch