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Robotic OS (Cheatsheet)

The document provides an overview of installing and using the robotic operating system ROS. It discusses installing ROS for different Ubuntu versions, the ROS architecture involving nodes, topics and messages, and common ROS commands for running masters, nodes, visualizing topics and messages, and using the filesystem.

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David duran
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18 views

Robotic OS (Cheatsheet)

The document provides an overview of installing and using the robotic operating system ROS. It discusses installing ROS for different Ubuntu versions, the ROS architecture involving nodes, topics and messages, and common ROS commands for running masters, nodes, visualizing topics and messages, and using the filesystem.

Uploaded by

David duran
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Robotic OS (Cheatsheet) 

 
Installation 
ROS (Robotic OS) is made to work with Ubuntu. 
Each Ubuntu version has its own ROS: 
● Ubuntu 14.04 → ROS Indigo 
● Ubuntu 16.04 → ROS Kinetic 
● Ubuntu 17.07 → ROS Lunar 
● Ubuntu 18.04 → ROS Melodic 
● Ubuntu 20.04 → ROS Noetic 
 
→ Install ROS using t​ his link​. 
 
ROS has also been released in a ROS 2 version. 
● Ubuntu 16.04 → ROS 2 Crystal 
● Ubuntu 18.04 → ROS 2 Dashing Diademata 
● Ubuntu 20.04 → ROS Foxy Fitzroy 
 
→ Install ROS 2 using t​ his link​. 
 
Architecture 
Once ROS is installed, it uses the following architecture: 

 
● A node is a program: For example, obstacle detection. 
It uses: 
○ A subscriber that receives information: For example, a camera image 
○ A publisher that publishes information: For example, position of an 
obstacle in the image 
● A topic is that the node publishes on. 
● A message is the type of information exchanged between nodes. 
 
ROS Commands - The Essential 
 
MASTER 
Run a master 
● roscore 
 
NODES 
Get list of nodes 
● rosnode list 
 
Get information on a node 
● Rosnode info [node] 
 
TOPICS 
Get list of topics 
● rostopic list 
 
Get information on a topic (subscribers, publishers, …) 
● rostopic info [topic] 
 
Visualize a topic 
● rostopic echo [topic] 
 
MESSAGES 
Get list of messages 
● rosmsg list 
 
Visualize a message structure 
● rosmsg show [message_type] 
 
FILESYSTEM 
Run a Node 
● rosrun [package] [node] 
 
Launch an application 
● roslaunch [package] [launcher] 
 
Build a package 
● catkin_create_pkg 
 
Compile a workspace 
● Catkin_make 
ROS Commands - What we’ll need 
 
MASTER 
Run a master 
● roscore 
 
Visualize a topic 
● rostopic echo [topic] 
 
MESSAGES 
Visualize a message structure 
● rosmsg show [message_type] 
 
FILESYSTEM 
Play a bag 
● rosbag play 
● rosbag play -l (will play in loop) 
 
Record a bag 
● rosbag record [node] 
● rosbag record -a (will record all topics) 
 
Run a Node 
● rosrun [package] [node] 
 
Run RVIZ 
● rosrun rviz rviz 
 
Run RQT_IMAGE_VIEW 
● rqt_image_view 
 
Show the Graph 
● rosrun rqt_graph rqt_graph 
 
Launch an application 
● roslaunch [package] [launcher] 
 
Build a package 
● catkin_create_pkg 
 
Compile a workspace 
● catkin_make 

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