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    Tools

    For a list of common ROS libraries, please see the API overview.

    For tips on working with common thirdparty tools, such as Matlab, please see Interoperability.

    3D Visualization: RVIZ

    rviz is a 3D visualization environment that lets you combine sensor data, robot model, and other 3D data into a combined view. You can also send your own 3D markers into rviz from your software.

    Webviz

    A browser-based tool to look at data and ROS bag files, including mixed with live video. See the Webviz ROS Wiki page.

    Screenshot from the live demo:

    • https://user-images.githubusercontent.com/6842199/84357542-ae7cdd80-ab7a-11ea-8065-afac12337c0a.png

    Logging and Visualization Sensor Data: rosbag and rqt_bag

    rosbag is a command-line tool for recording and playing back messages into "bag" files.

    rqt_bag is a visualizer that lets you see data recorded in bag files.

    Live plotting: rqt_plot

    ROS/Tutorials/UnderstandingTopics/rqt_plot.png

    rqt_plot lets you visualize scalar data published to ROS topics.

    System visualization: rqt_graph

    launch top window

    rqt_graph displays a visual graph of the processes running in ROS and their connections.

    Control & Visualization with Mobile Devices: ROS-Mobile

    ROS-Mobile is an Android application designed for dynamic control and visualization of mobile robotic system operated by the Robot Operating System (ROS). The application uses ROS nodes initializing publisher and subscriber with standard ROS messages. The overall code architecture pattern is Model View Model View ViewModel, which stabilizes the application and makes it highly customizable. You can download the application from the Google Playstore or built it from source by downloading the source code from the GitHub page.

    Command Line Tools

    See also:

    Running ROS Systems

    Launching/configuring multiple programs

    roslaunch

    Run a single program

    rosrun

    Bringup core system

    roscore

    Interacting with and debugging running system

    Topics

    rostopic

    Services

    rosservice

    Nodes

    rosnode

    Parameters

    rosparam

    Messages

    rosmsg

    Services

    rossrv

    General debugging

    roswtf

    Install, build and filesystem tools

    Build

    rosmake

    Install from source

    rosinstall

    Searching for packages/stacks

    roslocate

    Install thirdparty libraries

    rosdep

    Packages

    rospack, roscd

    Stacks

    rosstack, roscd

    Wiki: Tools (2020-06-19 12:04:49由NRottmann編輯)

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