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    1. 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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