ROS2 常用命令

ROS2 Create

ros2 pkg create --build-type ament_cmake learning_pkg_demo1 # C++
ros2 pkg create --build-type ament_python learning_pkg_demo2 # Python

ROS2 Build

colcon build

ROS2 run

ros2 run node_name bin_name

ROS2 node

ros2 node list/info

ROS2 topic

ros2 topic list # topic 列表
ros2 topic info ${topic} # topic 信息
ros2 topic bw ${topic} # topic 带宽
ros2 topic echo ${topic} # 打印 topic 信息