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ros_commands.md

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ROS-Related Commands

rosstd, rosjet

  • Description: aliases to set up/source ROS environment
  • Usage:
    • rosstd is for running robot code on your laptop
    • rosjet is for running robot code on the robot/Jetson

hwlaunch

  • Description: alias to run robot code (to be executed on the Jetson)
    • if you're curious, alias hwlaunch='roslaunch controller_node 2023_compbot_combined.launch'
  • Usage: hwlaunch after you've sourced ROS with rosjet

roscore

  • Description: the ROS core process/master, this is what coordinates communication between nodes
  • Usage: roscore -p 5802 &
    • FRC teams are restricted to network ports 5800 to 5810, and the default ROS port is 11311 which is out of that range. That's why we use port 5802.
    • The & at the end runs the process in the background (so you can do other things in your terminal)
  • Example: 
    ubuntu@bean-ThinkPad-X1-Yoga-Gen-6:~$ roscore -p 5802 &
[1] 50905
... lots of debug messages ...

rosrun

  • Description: runs a ROS node
  • Usage: rosrun [package] [node]
    • This runs the ROS node [node] in package [package].
  • Example: 
    ubuntu@bean-ThinkPad-X1-Yoga-Gen-6:~$ rosrun rviz rviz # runs rviz (which is in a package of the same name), the ROS visualization tool
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-ubuntu'
[INFO] [1693006625.121936170]: rviz version 1.14.20
[INFO] [1693006625.122026138]: compiled against Qt version 5.15.3
[INFO] [1693006625.122052834]: compiled against OGRE version 1.9.0 (Ghadamon)
[INFO] [1693006625.137169295]: Forcing OpenGl version 0.
[INFO] [1693006625.606206014]: Stereo is NOT SUPPORTED
[INFO] [1693006625.606308147]: OpenGL device: Mesa Intel(R) Xe Graphics (TGL GT2)
[INFO] [1693006625.606338795]: OpenGl version: 4.6 (GLSL 4.6) limited to GLSL 1.4 on Mesa system.

roslaunch

  • Description: runs a ROS node
  • Usage: roslaunch [package] [file.launch]
    • This runs the launch file [file.launch] in package [package].
  • Example: 
    ubuntu@bean-ThinkPad-X1-Yoga-Gen-6:~$ roslaunch controller_node 2023_sim.launch # run our robot in a simulated field
... logging to /home/ubuntu/.ros/log/18ec89f2-43a0-11ee-a629-6e8188a52783/roslaunch-bean-ThinkPad-X1-Yoga-Gen-6-51011.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://192.168.162.15:44361/

SUMMARY
========
... lots more text ...

rostopic

  • Description: topic-related ROS commands

  • Usage:

    • rostopic list: lists all topics being published to
    • rostopic echo [topic]: prints out all messages being published to [topic]
    • rostopic info [topic]: prints out information about a topic
    • rostopic pub [topic] [message type] [message]: publishes [message] (of type [message type]) to [topic]
      • Optional argument: -r [frequency] publishes the message continuously at [frequency] Hz
    • rostopic hz [topic]: calculates the publish rate (in Hz) of [topic]

  • Example:

    ubuntu@bean-ThinkPad-X1-Yoga-Gen-6:~$ rostopic list
/align/cmd_vel
/auto/auto_mode
/auto/cmd_vel
... lots more topics ...
    ubuntu@bean-ThinkPad-X1-Yoga-Gen-6:~$ rostopic echo /imu/zeroed_imu
header: 
seq: 24
stamp: 
    secs: 0
    nsecs: 690000000
frame_id: "imu"
orientation: 
x: -0.00038022196806286243
y: 0.0001624124748701506
z: 0.9999998834053025
w: -0.0002494851185626063
... more message data ...
---
... next message ...
    ubuntu@bean-ThinkPad-X1-Yoga-Gen-6:~$ rostopic info /auto/auto_mode
Type: behavior_actions/AutoMode

Publishers: None

Subscribers: 
* /candle_node (http://192.168.227.195:46065/)
    ubuntu@bean-ThinkPad-X1-Yoga-Gen-6:~$ rostopic pub /auto/auto_mode behavior_actions/AutoMode "header:
seq: 0
stamp:
    secs: 0
    nsecs: 0
frame_id: ''
auto_mode: 5" 
publishing and latching message. Press ctrl-C to terminate
    ubuntu@bean-ThinkPad-X1-Yoga-Gen-6:~$ rostopic hz /imu/zeroed_imu 
subscribed to [/imu/zeroed_imu]
average rate: 35.417
    min: 0.000s max: 0.060s std dev: 0.01774s window: 35
average rate: 32.292
    min: 0.000s max: 0.060s std dev: 0.01764s window: 63

rosservice

  • Description: service-related ROS commands

  • Usage:

    • rosservice list: lists all services being advertised
    • rosservice info [service_name]: prints out information about a service
    • rosservice call [service_name] [arguments]: calls the service advertised at service_name with arguments as the request data

  • Example:

    ubuntu@bean-ThinkPad-X1-Yoga-Gen-6:~$ rosservice list
/auto/stop_auto
/candle_node/set_leds_green
/frcrobot_jetson/swerve_drive_controller/brake
/frcrobot_jetson/swerve_drive_controller/change_center_of_rotation
/imu/set_imu_zero
... lots more services ...
    ubuntu@bean-ThinkPad-X1-Yoga-Gen-6:~$ rosservice info /imu/set_imu_zero 
Node: /imu/imu_zero
URI: rosrpc://192.168.234.97:39273
Type: imu_zero_msgs/ImuZeroAngle
Args: angle
    ubuntu@bean-ThinkPad-X1-Yoga-Gen-6:~$ rosservice call /imu/set_imu_zero "angle: 0.0"
(if the service had a response, it would be shown here)

rosnode

  • Description: node-related ROS commands

  • Usage:

    • rosnode list: lists all topics being published to
    • rosnode info [node]: prints out info about [node]
    • rosnode kill [node]: kills a given node
    • rosnode machine [IP]: prints out all nodes on a given machine IP, if run without IP will print current machine IP

  • Example:

    ubuntu@dino-desktop:~$ rosnode list
/align_and_place_grid
/align_to_grid_closed_loop/align_to_grid_closed_loop_2023
/align_to_grid_closed_loop/x_position_pid
/align_to_grid_closed_loop/y_position_pid
    ubuntu@dino-desktop:~$ rosnode info /align_and_place_grid
--------------------------------------------------------------------------------
Node [/align_and_place_grid]
Publications:
 * /align_and_place_grid/feedback [behavior_actions/AlignAndPlaceGrid2023ActionFeedback]
 * /align_and_place_grid/result [behavior_actions/AlignAndPlaceGrid2023ActionResult]
...

Subscriptions:
 * /align_and_place_grid/cancel [actionlib_msgs/GoalID]
 * /align_and_place_grid/goal [behavior_actions/AlignAndPlaceGrid2023ActionGoal]
...
Services:
 * /align_and_place_grid/get_loggers
 * /align_and_place_grid/set_logger_level

contacting node http://10.50.36.231:35239/ ...
Pid: 452
Connections:
 * topic: /rosout
    * to: /rosout
    * direction: outbound (48389 - 10.50.36.231:47566) [11]
    * transport: TCPROS
 * topic: /align_to_grid_closed_loop/align_to_grid_closed_loop/goal
    * to: /align_to_grid_closed_loop/align_to_grid_closed_loop_2023
    * direction: outbound (48389 - 10.50.36.231:47598) [10]
    * transport: TCPROS
    ubuntu@dino-desktop:~$ rosnode kill /align_and_place_grid
killing /align_and_place_grid
killed
    ubuntu@dino-desktop:~$ rosnode machine
10.50.36.231
ubuntu@dino-desktop:~$ rosnode machine 10.50.36.231
/align_to_grid_closed_loop/align_to_grid_closed_loop_2023
/align_to_grid_closed_loop/x_position_pid
/align_to_grid_closed_loop/y_position_pid
... many more

roswtf

  • Description: a ROS self-test tool, checks for errors
  • Usage: roswtf

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