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--- en:ros:subscribepublish [2021/06/09 12:41] – raivo.sell
+++ en:ros:subscribepublish [Unknown date] (current) – external edit (Unknown date) 127.0.0.1
@@ Line 134: / Line 134: @@
    $rostopic
-   rostopic bw display bandwidth used by topic
+   rostopic BW display bandwidth used by topic
    rostopic echo print messages to screen
-   rostopic hz display publishing rate of topic
+   rostopic Hz display publishing rate of topic
    rostopic list print information about active topics
-   rostopic pub publish data to topic
+   rostopic pub publish data to a topic
    rostopic type print topic type
-Make sure roscore, talker and listener work in the background.
+Make sure roscore, talker, and listener work in the background.
 We will display all the topics currently in use:
@@ Line 239: / Line 239: @@
        * transport: TCPROS
 We can see which computer the node is running on and through which protocol it is connected to the ROS.
-===== Rqt_graph =====
-ROS also comes with some graphical tools. //Rqt_graph// graphically shows which nodes communicate with each other. It is also possible to filter nodes and topics differently. //rqt_graph// allows you to save the graph in //pdf// format.
-run //rqt_graph//:
-   $ rqt_graph
-{{ :et:ros:rqt_graph.png |}}
-When the command is executed, the graphical user interface opens. We see that //talker// publishes messages to ///chatter// and //listener// listens to them.
-Robots with more complex tasks usually have many different nodes working on them that interact with a variety of topics. It is difficult to see the big picture from the command line and this is done using the //rqt_graph// program.
-Example of a graph on a more complex robot:
-{{ :et:ros:rqtslam.png?700 |}}

en/ros/subscribepublish.1623242494.txt.gz · Last modified: 2021/06/09 09:00 (external edit)