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Helpful Packages and Cheatsheet

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Justin Kleiber edited this page Jul 28, 2019 · 1 revision

Package List

ROS has many helpful packages for our robots. When you find one that is cool, just list it below! Also, please post a link if the package is hard to find by its name

  • rosserial - package for serial communication across devices

Cheatsheet

ROS has a lot of terminal commands, some of which are **extremely useful **for debugging. A list of the most useful ones is below, along with a short description of what they do.

Regular ROS commands

  • **roscore - **starts a master session of ROS
  • roslaunch - starts a master session of ROS, while also launching a particular launch file (which acts as a script to launch the many nodes in a program)

Elite Debugging Commands

  • rqt_graph - shows a diagram of all the nodes and topics currently running, as well as how they are connected, if they are a dead sink, or if they are not even being used
  • rostopic - gets topic information from the ROS master
    • rostopic list - shows a list of all the topics currently running
    • **rostopic show [topic] - ** shows the message a specific topic has
  • rosnode - gets node information from the ROS master
    • rosnode list - shows a list of all the nodes currently running
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