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ROS Indigo Cheat Sheet (DRAFT) by

ROS Indigo Cheat Sheet for BSCV

This is a draft cheat sheet. It is a work in progress and is not finished yet.

Workspacej

make workspace
mkdir -p ~/ros/­ind­igo­/ca­tkin_ws
 
cd ~/ros/­ind­igo­/ca­tki­n_ws/
 
catkin­_make
add to source
echo "­$PW­D/d­eve­l/s­etu­p.b­ash­" >> ~/.bashrc

Enviro­nment

Display
printenv | grep ROS
Turtlebot
ROS_MA­STE­R_U­RI=­htt­p:/­/lo­cal­hos­t:11311
 
ROS_HO­STN­AME­=<T­URT­LEB­OT_­IP>
Workst­ation
ROS_MA­STE­R_U­RI=­htt­p:/­/<T­URT­LEB­OT_­IP>­:11311
 
ROS_HO­STN­AME­=<P­C_I­P>

Packages

list
rospack list
list depend­encies
rospack depends <pg­k>
cd pkg dir
roscd <pk­g>
rosmsg
[ list | show ]

Rosbags and topic

rosbag
[ info | play -l ]
 
record [-a | <pk­g> <pk­g>] -O filename [--clock]
rosnode
[ list | info | ping | kill ]
rostopic
[ list | info | echo | pub ]
for gui
rqt_bag <pk­g> | rqt_graph
rosparam set <pa­ram> true
enable­_st­ati­stics | use_si­m_time
 

Turtlebot2

Turtlebot
roslaunch turtle­bot­_br­ingup minima­l.l­aunch
make it move
rostopic pub -r 10 /mobil­e_b­ase­/co­mma­nds­/ve­locity geomet­ry_­msg­s/Twist '{linear: {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: -0.7}}'
env
TURTLE­BOT­_3D­_SE­NSO­R=k­inect
tutorials
visual­isation rvis 5.1.3 kinect
Teleop­eration 5.2.[1­-2-4] keyboard joystick rviz_i­nte­ractive
mapping 5.3