Open6

ROS2 command

m.takemim.takemi

Twist と TwistStamped どっちだっけ？という時に ros2 topic info -v <topic-name>

$ ros2 topic info -v /diff_drive_controller/cmd_vel
Type: geometry_msgs/msg/TwistStamped

Publisher count: 0

Subscription count: 1

Node name: diff_drive_controller
Node namespace: /
Topic type: geometry_msgs/msg/TwistStamped
Topic type hash: RIHS01_5f0fcd4f81d5d06ad9b4c4c63e3ea51b82d6ae4d0558f1d475229b1121db6f64
Endpoint type: SUBSCRIPTION
GID: 01.10.1c.f9.80.a0.42.b7.89.d0.d3.cd.00.00.a4.04
QoS profile:
  Reliability: RELIABLE
  History (Depth): KEEP_LAST (1)
  Durability: VOLATILE
  Lifespan: Infinite
  Deadline: Infinite
  Liveliness: AUTOMATIC
  Liveliness lease duration: Infinite
m.takemim.takemi
  • publish Twist msg
$ ros2 topic pub /cmd_vel geometry_msgs/Twist '{linear: {x: 0.1}, angular: {z: 0.1}}'
  • publish TwistStamped
$ ros2 topic pub /diff_drive_controller/cmd_vel geometry_msgs/msg/TwistStamped "{header: {frame_id: base_footprint}, twist: {linear: {x: 0.1}, angular: {z: 0.1}}}"
m.takemim.takemi
  • get param
$ ros2 param get /controller_server /bond_disable_heartbeat_timeout
Boolean value is: True
  • dump param
$ ros2 param dump /controller_server
/controller_server:
  ros__parameters:
    /bond_disable_heartbeat_timeout: true
    FollowPath:
      ConstraintCritic:
        cost_power: 1
        cost_weight: 4.0
        enabled: true
      CostCritic:
        collision_cost: 1000000.0
        consider_footprint: true
        cost_power: 1
        cost_weight: 3.81
        critical_cost: 300.0
        enabled: true
        inflation_layer_name: ''
        near_goal_distance: 1.0
        trajectory_point_step: 2
      GoalAngleCritic:
・・・
m.takemim.takemi
  • node info
~$ ros2 node info /controller_server
/controller_server
  Subscribers:
    /bond: bond/msg/Status
    /clock: rosgraph_msgs/msg/Clock
    /odom: nav_msgs/msg/Odometry
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /speed_limit: nav2_msgs/msg/SpeedLimit
  Publishers:
    /bond: bond/msg/Status
    /cmd_vel_nav: geometry_msgs/msg/TwistStamped
    /controller_server/transition_event: lifecycle_msgs/msg/TransitionEvent
    /optimal_trajectory: nav_msgs/msg/Path
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /rosout: rcl_interfaces/msg/Log
    /trajectories: visualization_msgs/msg/MarkerArray
    /transformed_global_plan: nav_msgs/msg/Path
  Service Servers:
    /controller_server/change_state: lifecycle_msgs/srv/ChangeState
    /controller_server/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /controller_server/get_available_states: lifecycle_msgs/srv/GetAvailableStates
    /controller_server/get_available_transitions: lifecycle_msgs/srv/GetAvailableTransitions
    /controller_server/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /controller_server/get_parameters: rcl_interfaces/srv/GetParameters
    /controller_server/get_state: lifecycle_msgs/srv/GetState
    /controller_server/get_transition_graph: lifecycle_msgs/srv/GetAvailableTransitions
    /controller_server/get_type_description: type_description_interfaces/srv/GetTypeDescription
    /controller_server/list_parameters: rcl_interfaces/srv/ListParameters
    /controller_server/set_parameters: rcl_interfaces/srv/SetParameters
    /controller_server/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
  Service Clients:

  Action Servers:
    /follow_path: nav2_msgs/action/FollowPath
  Action Clients:
m.takemim.takemi
  • topic hz
$ ros2 topic hz /tf
average rate: 69.631
        min: 0.001s max: 0.022s std dev: 0.00671s window: 71
average rate: 67.938
        min: 0.000s max: 0.047s std dev: 0.00805s window: 138
average rate: 68.531
        min: 0.000s max: 0.047s std dev: 0.00803s window: 208
average rate: 68.738
        min: 0.000s max: 0.047s std dev: 0.00796s window: 278
average rate: 68.775
        min: 0.000s max: 0.047s std dev: 0.00778s window: 348
average rate: 68.826
        min: 0.000s max: 0.047s std dev: 0.00774s window: 418
average rate: 68.783
        min: 0.000s max: 0.047s std dev: 0.00769s window: 487
・・・