ROS common toolkit commands

   Recorded in this article ROS Some commands of the native toolkit ( Function description , Parameters ), It is convenient to check when using , The content involves the rostopic、rosservoce、rosnode、rosparam、rosmsg、rossrv、rosbag

rostopic relevant

#  The receiving speed of topic data, i.e. bandwidth 
rostopic bw [ Topic name ]
#  Show the delay of the topic 
rostopic delay [ Options ] [ Topic name ]
#  View specific types of topics 
rostopic find [ Topic type ]
#  Display the publishing speed of topic data 
rostopic hz [ Options ] [ Topic name ]
#  Show the information of the topic 
rostopic info [ Topic name ]
#  List activity topics 
rostopic list
#  Publish data to the topic 
rostopic pub [ Topic name ] [ Message type ] [ Parameters ]
#  Print topics / Domain type 
rostopic type [ Topic name / Domain type ]
#  Print the data sent by the topic 
rostopic echo [ Topic name ]

rosmsg relevant

#  Displays the message type description 
rosmsg show [ Message type ]
#  Displays the message type description 
rosmsg info [ Message type ]
#  List all message types 
rosmsg list
#  Displays the of the message MD5 Signature 
rosmsg md5
#  List packages that contain specific message types 
rosmsg package [ Message type ]
#  Query the message type under a specific function package 
rosmsg package [ Package name ]

rosservice relevant

#  Print the service communication parameters with the specified name 
rosservice arg [ service name ]
#  Query the service type of the specified service name 
rosservice type [ service name ]
#  Call the service 
rosservice call [ service name ] [ Parameters ]
#  Discover services through service types 
rosservice find [ Service type ]
#  View service information 
rosservice info [ service name ]
#  View the list of services 
rosservice list
#  View the uri
rosservice uri [ service name ]
#  Query the services under the specified namespace 
rosservice list namespace
#  Query the node name using the specified service 
rosservice node [ service name ]
#  Find the service name according to the specified service type 
rosservice find [ Service type ]

rosparam relevant

#  Set parameters 
rosparam set [ Parameter name ]
#  To obtain parameters 
rosparam get [ Parameter name ]
#  Get the parameters under the specified namespace 
rosparam get [ Namespace ]
#  From file (yaml) Load parameters in 
rosparam load [ file name ] [ Namespace ]
#  Save parameters to file (yaml) in 
rosparam dump [ file name ] [ Namespace ]
#  Delete parameters 
rosparam delete
#  Check the parameter list 
# rosparam list

rosnode relevant

#  List all currently running node
rosnode list
#  End the operation of the specified node 
rosnode kill [ The node name ]
#  Output node information 
rosnode info [ The node name ]
#  View the nodes running on the specified device 
rosnode machine [ Device name ]
#  Clear nodes that are not connected 
rosnode cleanup
#  View the specified node to the same topic Accessibility 
rosnode ping [ The node name ]

rosbag relevant

#  Show bag file information 
rosbag info [bag name ]
#  Record with the specified name 
rosbag record -O [bag name ]
#  Record the specified topic 
rosbag record [ Topic name 1] [ Topic name 2]
#  Play bag package 
rosbag play [bag name ]
#  Pause play , Wait for the space to start playing 
rosbag play --pause [bag name ]

rossrv relevant

ps：rosservice It's service. ,srv Is the specific data type , yes service Communication format

#  List all srv
rossrv list
#  Show a certain srv Content 
rossrv show [srv_name]