ROS_Foundation_Programming
Topic1. Publisher-Subscriber
$ roscore
$ rosrun ros_node_tutorial topic_publisher
$ rosrun ros_node_tutorial topic_subscriber
Topic2. Service server-Service client
$ roscore
$ rosrun ros_node_tutorial service_server
$ rosrun ros_node_tutorial service_client number1(type:int64) number2(type:int64)
(example : $ rosrun ros_node_tutorial action_client 3 2)
Topic3. Action server-Action client
$ roscore
$ rosrun ros_node_tutorial action_server
$ rosrun ros_node_tutorial action_client
Topic4. Parameter(example:Service node)
$ roscore
$ rosrun ros_node_tutorial action_param_server
<parameter setting & service execution>
1) parameter setting
$ rosparam set /calculation_method number
* number range(1(+),2(-),3(*),4(/))
2) service execution
$ rosparam call /ros_tutorial_srv number1(type:int64) number2(type:int64)
(example : $ rosparam call /ros_tutorial_srv 10 5)
Topic5. roslaunch
case 1:
$ roscore
$ roslaunch ros_tutorial_topic union.launch --screen
$ rqt_graph
case 2:
$ roscore
$ roslaunch ros_tutorial_topic union_2.launch --screen
$ rqt_graph