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rosrun

rosrun + funcpackname + nodename
exp: rosrun turtlesim turtlesim_node

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rqt_graph

show pic of ros list

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rosnode

rosnode list
rosnode info /turtlesim

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rostopic

rostopic list
rostopic pub +topicname +msgstg +data
exp:rostopic pub -r 10 /turtle1/cmd_vel geometry_msgs/Twist “linear: x: 1.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0”
-r 循环发布，没有就只发布一次
10 pub 10 p/s

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rosmsg

rosmsg show geometry_msgs/Twist

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rosservice

rosservice list
rosservice call /spawn “x: 0.0
y: 2.0
theta: 1.0
name: ‘turtle2’”

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rosbag

rosbag record -a -O cmd_record
rosbag play cmd_record.bag