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autodrive仿真教程-测试-获取数据

autodrive仿真教程-测试-获取数据

说明:

  • 介绍如何获取仿真的话题数据

步骤:

  • 新开终端,启动仿真
~/simulatorf1d_ws/load_sim.sh
  • 列出话题列表
rostopic list
  • 效果如下:
/car_1/base/footprint
/car_1/base/odom
/car_1/camera/image
/car_1/camera/image/compressed
/car_1/camera/image/compressed/parameter_descriptions
/car_1/camera/image/compressed/parameter_updates
/car_1/camera/image/compressedDepth
/car_1/camera/image/compressedDepth/parameter_descriptions
/car_1/camera/image/compressedDepth/parameter_updates
/car_1/camera/image/theora
/car_1/camera/image/theora/parameter_descriptions
/car_1/camera/image/theora/parameter_updates
/car_1/camera/parameter_descriptions
/car_1/camera/parameter_updates
/car_1/camera/rgb/camera_info
/car_1/command
/car_1/ground_truth
/car_1/joint_states
/car_1/left_front_wheel_velocity_controller/command
/car_1/left_front_wheel_velocity_controller/pid/parameter_descriptions
/car_1/left_front_wheel_velocity_controller/pid/parameter_updates
/car_1/left_front_wheel_velocity_controller/state
/car_1/left_rear_wheel_velocity_controller/command
/car_1/left_rear_wheel_velocity_controller/pid/parameter_descriptions
/car_1/left_rear_wheel_velocity_controller/pid/parameter_updates
/car_1/left_rear_wheel_velocity_controller/state
/car_1/left_steering_hinge_position_controller/command
/car_1/left_steering_hinge_position_controller/pid/parameter_descriptions
/car_1/left_steering_hinge_position_controller/pid/parameter_updates
/car_1/left_steering_hinge_position_controller/state
/car_1/right_front_wheel_velocity_controller/command
/car_1/right_front_wheel_velocity_controller/pid/parameter_descriptions
/car_1/right_front_wheel_velocity_controller/pid/parameter_updates
/car_1/right_front_wheel_velocity_controller/state
/car_1/right_rear_wheel_velocity_controller/command
/car_1/right_rear_wheel_velocity_controller/pid/parameter_descriptions
/car_1/right_rear_wheel_velocity_controller/pid/parameter_updates
/car_1/right_rear_wheel_velocity_controller/state
/car_1/right_steering_hinge_position_controller/command
/car_1/right_steering_hinge_position_controller/pid/parameter_descriptions
/car_1/right_steering_hinge_position_controller/pid/parameter_updates
/car_1/right_steering_hinge_position_controller/state
/car_1/scan
/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/rosout
/rosout_agg
/tf
  • 查看里程话题
rostopic echo /car_1/base/odom
  • 效果如下:
---
header: 
  seq: 235
  stamp: 
    secs: 141
    nsecs: 993000000
  frame_id: "odom"
child_frame_id: "car_1_base_link"
pose: 
  pose: 
    position: 
      x: -5.38277120885e-05
      y: 1.56250096772e-06
      z: 0.0499993141129
    orientation: 
      x: -4.29375344684e-07
      y: 8.10272609318e-07
      z: 2.72867198329e-06
      w: 0.999999999996
  covariance: [0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001]
twist: 
  twist: 
    linear: 
      x: -0.0050894379051
      y: 0.00494955003616
      z: -0.014419401071
    angular: 
      x: 0.0341058916231
      y: 0.00433439124915
      z: 0.0247969115552
  covariance: [0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001]
---
  • 查看激光话题
rostopic echo /car_1/scan
  • 效果如下:
header: 
  seq: 23
  stamp: 
    secs: 174
    nsecs: 540000000
  frame_id: "car_1_laser"
angle_min: -2.3561899662
angle_max: 2.3561899662
angle_increment: 0.00436331471428
time_increment: 0.0
scan_time: 0.0
range_min: 0.10000000149
range_max: 30.0
ranges: [2.4587671756744385, 2.4735379219055176, 2.4532835483551025, 2.446850299835205, 2.425121545791626, 2.4111263751983643, 2.4161758422851562, 2.414381265640259, 2.387146472930908, 2.376201868057251, 2.3812687397003174, 2.3647055625915527, 2.3756067752838135, 2.346445322036743, 2.3499977588653564, 2.3286569118499756, 2.3385331630706787, 2.2961273193359375, 2.3105275630950928, 2.290426254272461, 2.2597925662994385, 2.296783924102783, 2.264092206954956, 2.2527780532836914, 2.267068862915039, 2.242419958114624, 2.2341794967651367, 2.2191834449768066, 2.2173538208007812, 2.217595100402832, 2.217198610305786, 2.205052137374878, 2.2008683681488037, 2.201991558074951, 2.1695218086242676, 2.17850661277771, 2.1802875995635986, 2.1678626537323, 2.1480014324188232, 2.15234112739563, 2.1569020748138428, 2.1349620819091797, 2.1328163146972656, 2.1121885776519775, 2.120354652404785, 2.102696180343628, 2.101180076599121, 2.0931472778320312, 2.0831191539764404, 2.0779411792755127, 2.0593059062957764, 2.072214126586914, 2.0662853717803955, 2.0641822814941406, 2.052424192428589, 2.062836170196533, 2.0381076335906982, 2.0333852767944336, 2.020848274230957, 2.034308671951294, 2.023033618927002, 2.0316076278686523, 2.026268720626831, 1.9959492683410645, 2.0257115364074707, 2.0049095153808594, 1.9977188110351562, 1.9914594888687134, 1.9886194467544556, 1.9810564517974854, 1.9632203578948975, 1.9781767129898071, 1.9708607196807861, 1.9649995565414429, 1.953664779663086, 1.9534695148468018, 1.9482285976409912, 1.9471794366836548, 1.9278990030288696, 1.9421310424804688, 1.9324315786361694, 1.927208662033081, 1.9220294952392578, 1.9202688932418823, 1.9214040040969849, 1.9254236221313477, 1.902514100074768, 1.9090254306793213, 1.9086483716964722, 1.8973067998886108, 1.9007638692855835, 1.8947064876556396, 1.9026376008987427, 1.8799221515655518, 1.884036660194397, 1.8690876960754395, 1.861519455909729, 1.8843679428100586, 1.878031611442566, 1.8856816291809082, 1.8463388681411743, 1.852590799331665, 1.8582404851913452, 1.8546220064163208, 1.8547265529632568, 1.8632217645645142, 1.842518925666809, 1.8640292882919312, 1.8342680931091309, 1.8328856229782104, 1.8422313928604126, 1.831076979637146, 1.8278090953826904, 1.8376777172088623, 1.825206995010376, 1.8226583003997803, 1.8220080137252808, 1.8105543851852417, 1.826590657234192, 1.8307509422302246, 1.8167518377304077, 1.8336381912231445, 1.8164211511611938, 1.8036442995071411, 1.8042384386062622, 1.8156331777572632, 1.7880425453186035, 1.7900553941726685, 1.7871366739273071, 1.8043681383132935, 1.7939103841781616, 1.7787530422210693, 1.7929853200912476, 1.7906465530395508, 1.792273998260498, 1.7988014221191406, 1.7700601816177368, 1.8053102493286133, 1.7844806909561157, 1.7964638471603394, 1.7865362167358398, 1.7857697010040283, 1.7711981534957886, 1.7984952926635742, 1.7781308889389038, 1.7757549285888672, 1.7756246328353882, 1.7692254781723022, 1.7921631336212158, 1.7655560970306396, 1.7566027641296387, 1.7770084142684937, 1.7483007907867432, 1.7675673961639404, 1.770135760307312, 1.7454465627670288, 1.756615161895752, 1.755043625831604, 1.786013126373291, 1.772823452949524, 1.7619658708572388, 1.7530020475387573, 1.7491154670715332, 1.7675116062164307, 1.7594058513641357, 1.7644189596176147, 1.7699408531188965, 1.7424466609954834, 1.7569078207015991, 1.7551954984664917, 1.7760682106018066, 1.772968053817749, 1.7471833229064941, 1.7568936347961426, 1.7587813138961792, 1.7547681331634521, 1.7534294128417969, 1.7482815980911255, 1.7584847211837769, 1.7488328218460083, 1.7456536293029785, 1.7517163753509521, 1.7657761573791504, 1.77251398563385, 1.758317232131958, 1.760217547416687, 1.749488115310669, 1.7475693225860596, 1.758156418800354, 1.7451359033584595, 1.7493830919265747, 1.7469377517700195, 1.7604615688323975, 1.751717209815979, 1.7631027698516846, 1.7555856704711914, 1.7555779218673706, 1.7465744018554688, 1.7696118354797363, 1.7452272176742554, 1.7623863220214844, 1.7626363039016724, 1.7658946514129639, 1.7579760551452637, 1.7542747259140015, 1.769666075706482, 1.7683812379837036, 1.7540855407714844, 1.758923888206482, 1.7603141069412231, 1.7597635984420776, 1.7674870491027832, 1.7702897787094116, 1.7789111137390137, 1.7526767253875732, 1.7789565324783325, 1.762324571609497, 1.7761530876159668, 1.773796796798706, 1.7811299562454224, 1.7734321355819702, 1.7913320064544678, 1.7710081338882446, 1.776413083076477, 1.7879748344421387, 1.7967641353607178, 1.788390874862671, 1.802782416343689, 1.7842222452163696, 1.7813501358032227, 1.791540503501892, 1.7966372966766357, 1.7858103513717651, 1.8008089065551758, 1.8127310276031494, 1.793762445449829, 1.8096553087234497, 1.8420486450195312, 1.802467703819275, 1.8005917072296143, 1.8130419254302979, 1.811699390411377, 1.818529725074768, 1.8177192211151123, 1.846832513809204, 1.8279192447662354, 1.8185006380081177, 1.830136775970459, 1.8394620418548584, 1.8459677696228027, 1.8172597885131836, 1.844434380531311, 1.8428975343704224, 1.8370792865753174, 1.845713496208191, 1.8402503728866577, 1.862480878829956, 1.8477228879928589, 1.8646066188812256, 1.8661307096481323, 1.871923565864563, 1.8760428428649902, 1.8623707294464111, 1.8552162647247314, 1.879150390625, 1.8775527477264404, 1.8782662153244019, 1.8802694082260132, 1.905484676361084, 1.9063546657562256, 1.902105450630188, 1.920965313911438, 1.8919317722320557, 1.9180028438568115, 1.9148164987564087, 1.9312374591827393, 1.9108792543411255, 1.9222145080566406, 1.915500283241272, 1.9165561199188232, 1.9238277673721313, 1.9584523439407349, 1.9443217515945435, 1.9575616121292114, 1.951490044593811, 1.9306275844573975, 1.9393059015274048, 1.9595991373062134, 1.9554814100265503, 1.9644410610198975, 1.9873683452606201, 1.9858946800231934, 1.9854786396026611, 1.9758554697036743, 1.987654685974121, 2.014012575149536, 2.005934000015259, 2.0234382152557373, 2.0148587226867676, 2.0077199935913086, 2.033440589904785, 2.026519536972046, 2.0312232971191406, 2.041090965270996, 2.0631258487701416, 2.0305843353271484, 2.0463407039642334, 2.0559773445129395, 2.068425416946411, 2.075636625289917, 2.0864133834838867, 2.076972246170044, 2.102379083633423, 2.108785629272461, 2.1061224937438965, 2.097795009613037, 2.1070778369903564, 2.1079461574554443, 2.1369922161102295, 2.133732795715332, 2.133507013320923, 2.135927438735962, 2.1487207412719727, 2.177924871444702, 2.188141107559204, 2.155935287475586, 2.1790692806243896, 2.1897146701812744, 2.1738438606262207, 2.1882965564727783, 2.21722412109375, 2.224231481552124, 2.2196877002716064, 2.22511887550354, 2.226598024368286, 2.242300033569336, 2.2654659748077393, 2.2500548362731934, 2.2691490650177, 2.27835750579834, 2.2905237674713135, 2.2971222400665283, 2.311380624771118, 2.3031888008117676, 2.341111660003662, 2.3198976516723633, 2.3544507026672363, 2.345773220062256, 2.3460423946380615, 2.3834171295166016, 2.3762710094451904, 2.3727424144744873, 2.3939061164855957, 2.4204301834106445, 2.423970937728882, 2.420551300048828, 2.4352784156799316, 2.4485135078430176, 2.4558627605438232, 2.482090950012207, 2.46334171295166, 2.497852087020874, 2.5038576126098633, 2.51029896736145, 2.5357985496520996, 2.528120756149292, 2.5587613582611084, 2.557788610458374, 2.571352005004883, 2.5810487270355225, 2.5876305103302, 2.5979058742523193, 2.629591941833496, 2.638087034225464, 2.6500792503356934, 2.6651270389556885, 2.6725234985351562, 2.6813013553619385, 2.7099294662475586, 2.7190256118774414, 2.7267374992370605, 2.7533187866210938, 2.7472457885742188, 2.749537706375122, 2.7704029083251953, 2.8023104667663574, 2.8055663108825684, 2.8393266201019287, 2.8485524654388428, 2.8684308528900146, 2.887803077697754, 2.8789265155792236, 2.9322710037231445, 2.949577569961548, 2.9167261123657227, 2.9593615531921387, 2.9672598838806152, 2.996556520462036, 3.0050816535949707, 3.0471599102020264, 3.0602245330810547, 3.0744621753692627, 3.1203725337982178, 3.1115219593048096, 3.1230738162994385, 3.1629724502563477, 3.1816155910491943, 3.211008071899414, 3.2166221141815186, 3.239442825317383, 3.2685329914093018, 3.3026435375213623, 3.3017590045928955, 3.3398959636688232, 3.3520166873931885, 3.386312484741211, 3.4009134769439697, 3.4214298725128174, 3.4403061866760254, 3.4648313522338867, 3.5166618824005127, 3.535511016845703, 3.5784101486206055, 3.5983474254608154, 3.619377851486206, 3.6503207683563232, 3.6529040336608887, 3.6810858249664307, 3.7547171115875244, 3.770796298980713, 3.773322105407715, 3.8170502185821533, 3.858008623123169, 3.86183762550354, 3.8777530193328857, 3.913504123687744, 3.955348253250122, 3.9718921184539795, 4.005799770355225, 4.039982318878174, 4.079250812530518, 4.090749740600586, 4.089810371398926, 4.1631693840026855, 4.173333168029785, 4.197227954864502, 4.195514678955078, 4.227954864501953, 4.252476692199707, 4.280974388122559, 4.315820217132568, 4.334087371826172, 4.363710403442383, 4.376316070556641, 4.408995628356934, 4.440844535827637, 4.450448513031006, 4.476097583770752, 4.476297855377197, 4.516633987426758, 4.527736186981201, 4.553564548492432, 4.5821027755737305, 4.590175628662109, 4.625039100646973, 4.650204181671143, 4.665175437927246, 4.677545070648193, 4.715962886810303, 4.720756530761719, 4.74208402633667, 4.767720699310303, 4.790676116943359, 4.810795307159424, 4.810224533081055, 4.837906837463379, 4.870151519775391, 4.893191814422607, 4.902621746063232, 4.910599708557129, 4.95648193359375, 4.9718098640441895, 4.997760772705078, 5.0019378662109375, 5.015532970428467, 5.056241989135742, 5.0469512939453125, 5.0761213302612305, 5.081514835357666, 5.1087646484375, 5.097443103790283, 5.128798961639404, 5.1278395652771, 5.156768798828125, 5.1831254959106445, 5.1976470947265625, 5.2264509201049805, 5.232245922088623, 5.2545552253723145, 5.27534818649292, 5.2812700271606445, 5.298381328582764, 5.291804313659668, 5.324056625366211, 5.334174156188965, 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