1.1 ROS初探

• 小海龟模拟：

1.2 rqt_graph可视化工具

1.3 一些常用命令行

（1）rosnode

rosnode list
rosnode info /turtlesim 

（2）rostopic

rostopic list 
rostopic info /turtle1/cmd_vel 

rostopic echo /turtle1/pose

rostopic pub -r 10 /turtle1/cmd_vel geometry_msgs/Twist "linear:
  x: 3.0
  y: 2.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 1.0" 

（3）rosservice

rosservice list 
rosservice info /spawn 

rosservice call /spawn "x: 10.0
y: 5.0
theta: 30.0
name: 'turtle2'"