ROS2轻松学2-工具篇6-rqt演示讲义(含视频)

ROS2轻松学2-工具篇6-rqt演示讲义

说明:

• 介绍如何认识rqt

参考:

• 中文教程1
• 中文教程2
• 英文教程1
• 英文教程2

示例:

• rqt帮助

rqt -h

• 启动turtlesim和键盘控制

ros2 run turtlesim turtlesim_node
ros2 run turtlesim turtle_teleop_key

• 动作类型浏览器 / Plugins -> Actions ->Action Type Browser

• 参数重配置 / Plugins -> configuration ->Parameter Reconfigure

• 节点图/Node Graph

• 控制转向/Plugins -> Robot Tools -> Robot Steering

• 服务调用/Plugins -> Services -> Service Caller

• 服务类型浏览器Plugins -> Services -> Service Type Browser

• 消息发布 Plugins -> Topics -> Message Publisher

• 消息类型浏览器Plugins -> Topics -> Message Type Browser

• 话题列表Plugins -> Topics -> Topic Monitor

• 绘制曲线图Plugins -> Visualization -> Plot

• 查看日志 rqt_console

ros2 run rqt_console rqt_console
ros2 run turtlesim turtlesim_node
ros2 topic pub -r 1 /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}"

视频演示:

• 在线版本:

<iframe height=498 width=100% src="//player.bilibili.com/player.html?aid=563610976&bvid=BV1hv4y1X71J&cid=917724011&page=1" scrolling="no" border="0" frameborder="no" framespacing="0" allowfullscreen="true"> </iframe>