ROS

通信机制

通信机制 

rostopic	rosservice
rosmsg	rossrv
publish and subscribe	client request and server response
ros::Publisher nh.advertise pub.publish	ros::ServiceClient, nh.serviceClient client.call
ros::Subscriber nh.subscribe ros::spin	ros::ServiceServer, nh.advertiseService ros::spin

 

命令

rosrun package-name executable-name

 计算图源: node,topic,serivice,参数

 

#include <package_name/type_name.h>