ros2之turtlesim命令

如何在ros2熟悉和使用各种指令呢，ros1的经典小乌龟是最快捷的途径之一。

ros2_tutorials(turtlesim): https://github.com/zhangrelay/ros2_tutorials

通过turtlesim，对比一下ros1和ros2吧：

文件组织：

ros1：

.

├── CHANGELOG.rst

├── CMakeLists.txt

├── images

│   ├── box-turtle.png

│   ├── diamondback.png

│   ├── electric.png

│   ├── fuerte.png

│   ├── groovy.png

│   ├── hydro.png

│   ├── hydro.svg

│   ├── indigo.png

│   ├── indigo.svg

│   ├── jade.png

│   ├── kinetic.png

│   ├── kinetic.svg

│   ├── lunar.png

│   ├── lunar.svg

│   ├── melodic.png

│   ├── palette.png

│   ├── robot-face.png

│   ├── robot-turtle.png

│   ├── sea-turtle.png

│   ├── turtle.png

│   └── turtle.xar

├── include

│   └── turtlesim

│       ├── turtle_frame.h

│       └── turtle.h

├── launch

│   └── multisim.launch

├── msg

│   ├── Color.msg

│   └── Pose.msg

├── package.xml

├── src

│   ├── turtle.cpp

│   ├── turtle_frame.cpp

│   ├── turtlesim

│   │   └── __init__.py

│   └── turtlesim.cpp

├── srv

│   ├── Kill.srv

│   ├── SetPen.srv

│   ├── Spawn.srv

│   ├── TeleportAbsolute.srv

│   └── TeleportRelative.srv

└── tutorials

├── draw_square.cpp

├── mimic.cpp

└── teleop_turtle_key.cpp

9 directories, 41 files

ros2：

.

├── CHANGELOG.rst

├── CMakeLists.txt

├── images

│   ├── box-turtle.png

│   ├── diamondback.png

│   ├── electric.png

│   ├── fuerte.png

│   ├── groovy.png

│   ├── hydro.png

│   ├── hydro.svg

│   ├── indigo.png

│   ├── indigo.svg

│   ├── jade.png

│   ├── kinetic.png

│   ├── kinetic.svg

│   ├── lunar.png

│   ├── lunar.svg

│   ├── melodic.png

│   ├── palette.png

│   ├── robot-turtle.png

│   ├── sea-turtle.png

│   ├── turtle.png

│   └── turtle.xar

├── include

│   └── turtlesim

│       ├── turtle_frame.h

│       └── turtle.h

├── launch

│   ├── draw_square.launch.py

│   ├── multisim.launch.py

│   └── __pycache__

│       └── draw_square.launch.cpython-36.pyc

├── msg

│   ├── Color.msg

│   └── Pose.msg

├── package.xml

├── src

│   ├── turtle.cpp

│   ├── turtle_frame.cpp

│   ├── turtlesim

│   │   └── __init__.py

│   └── turtlesim.cpp

├── srv

│   ├── Kill.srv

│   ├── SetPen.srv

│   ├── Spawn.srv

│   ├── TeleportAbsolute.srv

│   └── TeleportRelative.srv

└── tutorials

├── draw_square.cpp

├── mimic.cpp

└── teleop_turtle_key.cpp

10 directories, 42 files

这里并未在ros2中添加对应2代版本小乌龟的图片。

编译环节：

ros1：catkin build

ros2：colcon build

命令使用：

ros1：

rosrun, rostopic ……

ros2：

ros2 run, ros2 topic ……

具体介绍如下：

ros2 is an extensible command-line tool for ROS 2.

optional arguments:

-h, --help            show this help message and exit

Commands:

action     Various action related sub-commands

component  Various component related sub-commands

daemon     Various daemon related sub-commands

launch     Run a launch file

lifecycle  Various lifecycle related sub-commands

msg        Various msg related sub-commands

multicast  Various multicast related sub-commands

node       Various node related sub-commands

param      Various param related sub-commands

pkg        Various package related sub-commands

run        Run a package specific executable

security   Various security related sub-commands

service    Various service related sub-commands

srv        Various srv related sub-commands

topic      Various topic related sub-commands

Call `ros2 -h` for more detailed usage.

对于ros1而言，启动小乌龟并键盘遥控，需要如下步骤：

roscore

rosrun turtlesim turtlesim_node

rosrun turtlesim turtle_teleop_key

类比与ros2，我们可以使用如下命令：

roscore

注意ros2无需core

ros2 run turtlesim turtlesim_node

ros2 run turtlesim turtle_teleop_key

非常容易理解。

比如畫一個大圓：

ros2 topic pub /turtle1/cmd_vel ometry_msgs/msg/Twist "{linear: {x: 0.8, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.2}}"

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