http://wiki.ros.org/Installation/Ubuntu
Installation
$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
$ sudo apt-get update
$ sudo apt-get install ros-kinetic-desktop-full
....
Initialize
$ sudo rosdep init
Add the source of Kinetic setp.bash to ~/.bashrc
$ echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
$ source ~/.bashrc
Install ROS Install tools
$ sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential
$ printenv | grep ROS
ROS_ROOT=/opt/ros/kinetic/share/ros
ROS_PACKAGE_PATH=/opt/ros/kinetic/share
ROS_MASTER_URI=http://localhost:11311
ROS_VERSION=1
ROSLISP_PACKAGE_DIRECTORIES=
ROS_DISTRO=kinetic
ROS_ETC_DIR=/opt/ros/kinetic/etc/ros
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin_make
~/catkin_ws/src$ cat CMakeLists.txt
~/catkin_ws$ source devel/setup.bash
Finding ROS packages on your system
$ rospack find roscpp
/opt/ros/kinetic/share/roscpp
$ roscd roscpp/cmake
parallels@parallels-vm:/opt/ros/kinetic/share/roscpp/cmake
$ rosls roscpp_tutorials
cmake launch package.xml srv
Creating a ROS (catkin) Package
~/catkin_ws/src$ catkin_create_pkg beginner_tutorials std_msgs rospy roscpp
Created file beginner_tutorials/CMakeLists.txt
Created file beginner_tutorials/package.xml
Created folder beginner_tutorials/include/beginner_tutorials
Created folder beginner_tutorials/src
Successfully created files in /home/parallels/catkin_ws/src/beginner_tutorials. Please adjust the values in package.xml.
Building catkin
~/catkin_ws/src$ cd ~/catkin_ws
parallels@parallels-vm:~/catkin_ws$ catkin_make
$ . ~/catkin_ws/devel/setup.bash
$ rospack depends1 beginner_tutorials
roscpp
rospy
std_msgs
$ rospack depends1 rospy
genpy
roscpp
rosgraph
rosgraph_msgs
roslib
std_msgs
$ source /opt/ros/kinetic/setup.bash
~/catkin_ws
$ catkin_make
~/catkin_ws
$ catkin_make install
$ cd ~/catkin_ws/
~/catkin_ws$ ls src
beginner_tutorials CMakeLists.txt
catkin_make
ROS Nodes
http://wiki.ros.org/ROS/Tutorials/UnderstandingNodes
$
sudo apt-get install ros-kinetic-ros-tutorials
Starting ROS Core Service
$
roscore
... logging to /home/parallels/.ros/log/4127ad4c-c430-11e8-97ed-001c42291ef9/roslaunch-parallels-vm-17556.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1gb .="" p="">
started roslaunch server http://parallels-vm:39325/
ros_comm version 1.12.14
SUMMARY
========
PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.14
NODES
auto-starting new master
process[master]: started with pid [17567]
ROS_MASTER_URI=http://parallels-vm:11311/
setting /run_id to 4127ad4c-c430-11e8-97ed-001c42291ef9
process[rosout-1]: started with pid [17583]
started core service [/rosout]
NEW TERMINAL
~/catkin_ws$
rosnode list
/rosout
Running Turtle Simulator Node
$
rosrun turtlesim turtlesim_node
in new terminal window
$
rosnode list
/rosout
/turtlesim
~/catkin_ws$ rosnode ping turtlesim
rosnode: node is [/turtlesim]
pinging /turtlesim with a timeout of 3.0s
xmlrpc reply from
http://parallels-vm:38047/
time=
0.795841ms
ROS Topics
http://wiki.ros.org/ROS/Tutorials/UnderstandingTopics
$ rosrun turtlesim turtlesim_node
$ sudo apt-get install ros-kinetic-rqt
$ sudo apt-get install ros-kinetic-rqt-common-plugins
$ rosrun rqt_graph rqt_graph
$
rostopic -h
rostopic is a command-line tool for printing information about ROS Topics.
Commands:
rostopic bw
display bandwidth used by topic
rostopic delay
display delay of topic from timestamp in header
rostopic echo
print messages to screen
rostopic find
find topics by type
rostopic hz
display publishing rate of topic
rostopic info
print information about active topic
rostopic
list list active topics
rostopic pub
publish data to topic
rostopic type
print topic or field type
Type rostopic
-h for more detailed usage, e.g. 'rostopic echo -h'
parallels@parallels-vm:~/catkin_ws
$ rostopic list
/rosout
/rosout_agg
/turtle1/cmd_vel
/turtle1/color_sensor
/turtle1/pose
$
rostopic echo /turtle1/cmd_vel
linear:
x: -2.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 0.0
---
$ rostopic list -v
Published topics:
* /turtle1/color_sensor [turtlesim/Color] 1 publisher
* /turtle1/cmd_vel [geometry_msgs/Twist] 1 publisher
* /rosout [rosgraph_msgs/Log] 3 publishers
* /rosout_agg [rosgraph_msgs/Log] 1 publisher
* /turtle1/pose [turtlesim/Pose] 1 publisher
Subscribed topics:
* /turtle1/cmd_vel [geometry_msgs/Twist] 2 subscribers
* /rosout [rosgraph_msgs/Log] 1 subscriber
$
rostopic type /turtle1/cmd_vel
geometry_msgs/Twist
$
rosmsg show geometry_msgs/Twist
geometry_msgs/Vector3 linear
float64 x
float64 y
float64 z
geometry_msgs/Vector3 angular
float64 x
float64 y
float64 z
$
rostopic pub -1 /turtle1/cmd_vel geometry_msgs/Twist -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 1.8]'
publishing and latching message for 3.0 seconds
parallels@parallels-vm:~/catkin_ws$ rostopic pub -1 /turtle1/cmd_vel geometry_msgs/Twist -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 1.8]'
publishing and latching message for 3.0 seconds
^[[Aparallels@parallels-vm:~/catkin_ws$ rostopic pub -1 /turtle1/cmd_vel geometry_msgs/Twist -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 1.8]'
publishing and latching message for 3.0 seconds
^[[A
parallels@parallels-vm:~/catkin_ws$ rostopic pub -1 /turtle1/cmd_vel geometry_msgs/Twist -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 1.8]'
publishing and latching message for 3.0 seconds
^[[Aparallels@parallels-vm:~/catkin_ws$ rostopic pub -1 /turtle1/cmd_vel geometry_msgs/Twist -- '[2.0, 0.0, 0.0]' '[0.0, 0.0, 1.8]'
publishing and latching message for 3.0 seconds
$ rosrun rqt_plot rqt_plot
http://wiki.ros.org/ROS/Tutorials/UnderstandingServicesParams
$
rosservice list
/clear
/kill
/reset
/rosout/get_loggers
/rosout/set_logger_level
/spawn
/turtle1/set_pen
/turtle1/teleport_absolute
/turtle1/teleport_relative
/turtlesim/get_loggers
/turtlesim/set_logger_level
$ rosservice call /clear
Create another turtle
rosservice call /spawn 2 2 0.2 ""
$
rosparam list
/background_b
/background_g
/background_r
/rosdistro
/roslaunch/uris/host_parallels_vm__40367
/rosversion
/run_id
$
rosparam get /rosdistro
'kinetic
'
$
rosparam get /rosversion
'1.12.14
$
rosparam dump ros_params_dump.yaml
background_b: 255
background_g: 86
background_r: 69
rosdistro: 'kinetic
'
roslaunch:
uris: {host_parallels_vm__40367: 'http://parallels-vm:40367/'}
rosversion: '1.12.14
'
run_id: d19c2fd2-c4d6-11e8-a520-001c42291ef9
http://wiki.ros.org/ROS/Tutorials/UsingRqtconsoleRoslaunch
