ROS Cheat Sheet

Here you can see a couple of usefull ROS commands to help you out!

  • $ roscore

    • Starts the ros core node, you need this before starting any other node.
  • $ rosrun {rosPackageName} {pythonFileContainingTheRosNode} [__ns:=namespace]

    • Example: $ rosrun devine_irl_control node_facial_expression.py __ns:=devine
    • This will start the node specified inside the node_facial_expression.py
  • $ rostopic pub {/topic_name} std_msgs/{dataType} {Payload}

    • Example: $ rostopic pub /devine/objects_confidence std_msgs/Float64MultiArray “{layout: {dim: [{label: ‘’, size: 0, stride: 0}], data_offset: 0}, data: [0,0.8, 0.7]}”
    • This will publish the specified payload to the specified topic.
  • $ rostopic echo {topicName}

    • Example: $ rostopic echo /devine/robot/facial_expression
    • This will listen and print out any messages on the specified topic.
  • $ roslaunch devine devine.launch

    • This will launch ALL Devine nodes.
    • You can also use this to launch specific nodes like so $ roslaunch devine devine.launch launch_all:=false dashboard:=true
  • $ rosrun topic_tools throttle messages /openni/rgb/image_color/compressed 0.33 /devine/image/segmentation

    • Segments every 30 seconds
  • $ rosrun rqt_gui rqt_gui

    • Starts a GUI with many usefull ROS development tools that enables you to subscribe and monitor ROS topics for example.
  • $ rosrun rqt_top rqt_top

    • See the actually ressources consumed by your ROS environment.