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ROS (Launch (• Evaluated serially
• Last setting wins, $(env ENVIRONMENT…
ROS (
Launch,
TF,
Node
- Executable that uses ROS (client library) to
talk to other nodes
- Can publish/subscribe to topic
- Can also provide service
- manipulated with "rosnode"
Basically an executable connected to the ROS network
,
Message
- Data type used to subscribe to or publish a topic
- Manipulated by "rosmsg". For eg: rosmsg /turtle1/cmd_vel is a list of floats etc
,
Parameter server
- Stores ints, floats, bools, lists and dicts,
Services
- Allow nodes to send a request and get a response
- Another way to communicate
,
Actions,
Topics
- Abstraction to which messages
are published, subscribed
,
move_base,
Master
- Name service for ROS that helps
nodes to find each other (look up table etc)
,
rosout,
roscore (?)
* Master+rosout+param server,
Bags
rosbag record -a
rosbag record -0 subset "<names of topics"
rosbag play -r 2 <name of bagfile>,
roswtf)