ROS Command Line cheatsheet

Launching ROS

  • roscore - Allows all ROS nodes to communicate with each other, so necessary for all ROS usage
  • rosrun [package] [executable] - Launches a ROS node, executable can be a .py file or a C/C++ executable
  • roslaunch [package] [launch_script] - Uses a .launch file to run multiple other ROS nodes and roscore

Debugging Information

  • rosnode [command] - Displays debugging information about ROS nodes
    • rosnode list - Lists the active nodes
    • rosnode ping [node_name] - Tests connectivity to node
    • rosnode info [node_name] - Prints information about specific node
    • rosnode machine [machine_name] - Lists nodes running on a machine
    • rosnode kill [node_name] - Kills a running node
      • -a kills all nodes
  • rostopic [command] - Displays debugging information about ROS topics
    • rostopic list - Lists the active topics
    • rostopic bw [topic_name] - Prints the bandwidth used by topic
    • rostopic hz [topic_name] - Prints the publishing rate of the topic
    • rostopic echo [topic_name] - Print topic messages to the screen
    • rostopic type [topic_name] - Print topic's message type
    • rostopic pub [topic_name] [message type] (message) - Publish data to the topic
    • rostopic find [message_type] - Find topics by message type
  • rosmsg [command] - Displays information about ROS message data structures
    • rosmsg show [message_name] - Print the fields in the message
    • rosmsg users [message_name] - Search for code using the message
    • rosmsg package [package_name] - List all the messages in a package
    • rosmsg packages [message_name] - List all the packages with specific message
    • rosmsg md5 [message_name] - Print the message md5 sum

Recording

  • rosbag [command] - Used for storing ROS graph data
    • rosbag record [topics_names] - Records the ROS data into a .bag file (-a records all topics)
    • rosbag play [.bag file] - Plays back the ROS data that was recorded

Visualization Tools

  • rqt_graph - Displays interactive graph of ROS nodes/topics
  • rqt_image_view - Displays any topic messages whose type is sensor_msgs/Image
  • rqt_bag - Graphical tool for watching .bag files
  • rqt_deps- Generates PDF of ROS dependencies
  • rqt_plot - Plots numerical data on ROS topic over time
  • rqt_logger
  • rviz - 3D visualization of robot with sensor data plotted around it
  • gazebo - A simulation system where the ROS robot can operate just like it normally would