ROS2机器人f1tenth之CLI工具基础
案例适用于ROS2如下三个版本：
- humble
- galactic
- foxy
适用于win/linux/macos。
为何选择f1tenth，延续性，之前使用f1tenth的ros1进行案例讲解。
具体可以参考如下链接：
蓝桥ROS之f1tenth简单PID沿墙跑起来（Python）
ROS2基础教程可以参考：
课程教程迭代更新只有进行时，没有完成时。 f1tenth资源需求量非常小，适合课程教学，并无缝支持云端实践，以此为主。
善于使用各类帮助文档，例如：
ros2 -h
命令会列出所有ros2的CLI命令：
zhangrelay@LAPTOP-5REQ7K1L:~$ ros2 -h
usage: ros2 [-h] [--use-python-default-buffering] Call `ros2 <command> -h` for more detailed usage. ...
ros2 is an extensible command-line tool for ROS 2.
options:
-h, --help show this help message and exit
--use-python-default-buffering
Do not force line buffering in stdout and instead use the python default buffering, which
might be affected by PYTHONUNBUFFERED/-u and depends on whatever stdout is interactive or not
Commands:
action Various action related sub-commands
bag Various rosbag related sub-commands
component Various component related sub-commands
daemon Various daemon related sub-commands
doctor Check ROS setup and other potential issues
interface Show information about ROS interfaces
launch Run a launch file
lifecycle Various lifecycle 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
topic Various topic related sub-commands
wtf Use `wtf` as alias to `doctor`
Call `ros2 <command> -h` for more detailed usage.默认系统环境导入：
source /opt/ros/humble/setup.bash
自定义功能包环境导入，在对应文件夹下：
~/ros_ws/f1tenth_gym_ros$ source install/setup.sh
查看系统变量：
printenv | grep -i ROS
使用F1tenth和rqt：
~/ros_ws/f1tenth_gym_ros$ ros2 launch f1tenth_gym_ros gym_bridge_launch.py
试一试如下命令：
- ros2 node list
- ros2 topic list
- ros2 service list
- ros2 action list
zhangrelay@LAPTOP-5REQ7K1L:~$ ros2 topic list
/bond
/clicked_point
/clock
/cmd_vel
/diagnostics
/drive
/ego_racecar/odom
/ego_robot_description
/goal_pose
/initialpose
/joint_states
/map
/map_server/transition_event
/map_updates
/parameter_events
/rosout
/scan
/tf
/tf_static
zhangrelay@LAPTOP-5REQ7K1L:~$ ros2 service list
/bridge/describe_parameters
/bridge/get_parameter_types
/bridge/get_parameters
/bridge/list_parameters
/bridge/set_parameters
/bridge/set_parameters_atomically
/ego_robot_state_publisher/describe_parameters
/ego_robot_state_publisher/get_parameter_types
/ego_robot_state_publisher/get_parameters
/ego_robot_state_publisher/list_parameters
/ego_robot_state_publisher/set_parameters
/ego_robot_state_publisher/set_parameters_atomically
/lifecycle_manager_localization/describe_parameters
/lifecycle_manager_localization/get_parameter_types
/lifecycle_manager_localization/get_parameters
/lifecycle_manager_localization/is_active
/lifecycle_manager_localization/list_parameters
/lifecycle_manager_localization/manage_nodes
/lifecycle_manager_localization/set_parameters
/lifecycle_manager_localization/set_parameters_atomically
/map_server/change_state
/map_server/describe_parameters
/map_server/get_available_states
/map_server/get_available_transitions
/map_server/get_parameter_types
/map_server/get_parameters
/map_server/get_state
/map_server/get_transition_graph
/map_server/list_parameters
/map_server/load_map
/map_server/map
/map_server/set_parameters
/map_server/set_parameters_atomically
/rviz/describe_parameters
/rviz/get_parameter_types
/rviz/get_parameters
/rviz/list_parameters
/rviz/set_parameters
/rviz/set_parameters_atomically
zhangrelay@LAPTOP-5REQ7K1L:~$ ros2 node list
/bridge
/ego_robot_state_publisher
/lifecycle_manager_localization
/map_server
/rviz
/transform_listener_impl_55c114fc5430
zhangrelay@LAPTOP-5REQ7K1L:~$ ros2 action listrqt 或 rqt --force-discover
rqt --help usage: main.py -b BINDING -f -h -l --perspective-file PERSPECTIVE_FILE -s PLUGIN -v--args PLUGIN_ARGS ...] --list-perspectives --command-pid PID --command-switch-perspective PERSPECTIVE Options for GUI instance: -b BINDING, --qt-binding BINDING choose Qt bindings to be used pyqt|pyside --clear-config clear the configuration (including all perspectives and plugin settings) -f, --freeze-layout freeze the layout of the GUI (prevent rearranging widgets, disable undock/redock) --force-discover force a rediscover of plugins -h, --help show this help message and exit -ht, --hide-title hide the title label, the icon, and the help button (combine with -l and -f to eliminate the entire title bar and reclaim the space) -l, --lock-perspective lock the GUI to the used perspective (hide menu bar and close buttons of plugins) -p PERSPECTIVE, --perspective PERSPECTIVE start with this named perspective --perspective-file PERSPECTIVE_FILE start with a perspective loaded from a file --reload-import reload every imported module -s PLUGIN, --standalone PLUGIN start only this plugin (implies -l). To pass arguments to the plugin use --args -t, --on-top set window mode to always on top -v, --verbose output qDebug messages --args PLUGIN_ARGS ... arbitrary arguments which are passes to the plugin (only with -s, --command-start-plugin or --embed-plugin). It must be the last option since it collects all following options. Options to query information without starting a GUI instance: These options can be used to query information about valid arguments for various options. --list-perspectives list available perspectives --list-plugins list available plugins Options to operate on a running GUI instance: These options can be used to perform actions on a running GUI instance. --command-pid PID pid of the GUI instance to operate on, defaults to oldest running GUI instance --command-start-plugin PLUGIN start plugin --command-switch-perspective PERSPECTIVE switch perspective Special options for embedding widgets from separate processes: These options should never be used on the CLI but only from the GUI code itself.
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