walking与Matlab入门教程-查看话题内容

walking与Matlab入门教程-查看话题内容

说明：

• 介绍如何在Matlab查看话题内容

步骤：

• 新开终端，启动底盘

ros2 launch walking_bringup robot.launch.py 

• 打开Matlab软件

• 设置域ID为2

setenv("ROS_DOMAIN_ID","2")

• 创建ROS2节点

ros2Node = ros2node("/example_node")

• 查看话题，以及对应的消息类型

ros2 topic list -t

                           Topic                                             MessageType             
____________________________________________________________    _____________________________________

{'/active'                                                 }    {'std_msgs/String'                  }
{'/camera/accel/imu_info'                                  }    {'realsense2_camera_msgs/IMUInfo'   }
{'/camera/aligned_depth_to_color/camera_info'              }    {'sensor_msgs/CameraInfo'           }
{'/camera/aligned_depth_to_color/image_raw'                }    {'sensor_msgs/Image'                }
{'/camera/aligned_depth_to_color/image_raw/compressed'     }    {'sensor_msgs/CompressedImage'      }
{'/camera/aligned_depth_to_color/image_raw/compressedDepth'}    {'sensor_msgs/CompressedImage'      }
{'/camera/aligned_depth_to_color/image_raw/theora'         }    {'theora_image_transport/Packet'    }
{'/camera/color/camera_info'                               }    {'sensor_msgs/CameraInfo'           }
{'/camera/color/image_raw'                                 }    {'sensor_msgs/Image'                }
{'/camera/color/image_raw/compressed'                      }    {'sensor_msgs/CompressedImage'      }
{'/camera/color/image_raw/compressedDepth'                 }    {'sensor_msgs/CompressedImage'      }
{'/camera/color/image_raw/theora'                          }    {'theora_image_transport/Packet'    }
{'/camera/color/metadata'                                  }    {'realsense2_camera_msgs/Metadata'  }
{'/camera/depth/camera_info'                               }    {'sensor_msgs/CameraInfo'           }
{'/camera/depth/color/points'                              }    {'sensor_msgs/PointCloud2'          }
{'/camera/depth/image_rect_raw'                            }    {'sensor_msgs/Image'                }
{'/camera/depth/image_rect_raw/compressed'                 }    {'sensor_msgs/CompressedImage'      }
{'/camera/depth/image_rect_raw/compressedDepth'            }    {'sensor_msgs/CompressedImage'      }
{'/camera/depth/image_rect_raw/theora'                     }    {'theora_image_transport/Packet'    }
{'/camera/depth/metadata'                                  }    {'realsense2_camera_msgs/Metadata'  }
{'/camera/extrinsics/depth_to_color'                       }    {'realsense2_camera_msgs/Extrinsics'}
{'/camera/gyro/imu_info'                                   }    {'realsense2_camera_msgs/IMUInfo'   }
{'/camera/imu'                                             }    {'sensor_msgs/Imu'                  }
{'/cmd_vel'                                                }    {'geometry_msgs/Twist'              }
{'/cmd_vel_mux/input/default'                              }    {'geometry_msgs/Twist'              }
{'/cmd_vel_mux/input/joystick'                             }    {'geometry_msgs/Twist'              }
{'/cmd_vel_mux/input/keyop'                                }    {'geometry_msgs/Twist'              }
{'/cmd_vel_mux/input/navigation'                           }    {'geometry_msgs/Twist'              }
{'/cmd_vel_mux/input/remote'                               }    {'geometry_msgs/Twist'              }
{'/cmd_vel_mux/input/webapp'                               }    {'geometry_msgs/Twist'              }
{'/dynamic_joint_states'                                   }    {'control_msgs/DynamicJointState'   }
{'/imu'                                                    }    {'sensor_msgs/Imu'                  }
{'/imu/data_raw'                                           }    {'sensor_msgs/Imu'                  }
{'/imu/mag'                                                }    {'sensor_msgs/MagneticField'        }
{'/joint_states'                                           }    {'sensor_msgs/JointState'           }
{'/odom'                                                   }    {'nav_msgs/Odometry'                }
{'/parameter_events'                                       }    {'rcl_interfaces/ParameterEvent'    }
{'/robot_description'                                      }    {'std_msgs/String'                  }
{'/robot_velocity'                                         }    {'geometry_msgs/TwistStamped'       }
{'/rosout'                                                 }    {'rcl_interfaces/Log'               }
{'/scan'                                                   }    {'sensor_msgs/LaserScan'            }
{'/tf'                                                     }    {'tf2_msgs/TFMessage'               }
{'/tf_static'                                              }    {'tf2_msgs/TFMessage'               }

• 查看消息类型属性

ros2 msg show geometry_msgs/Twist
# This expresses velocity in free space broken into its linear and angular parts.

Vector3  linear
Vector3  angular

• 查看消息类型属性

ros2 msg show nav_msgs/Odometry

# This represents an estimate of a position and velocity in free space.
# The pose in this message should be specified in the coordinate frame given by header.frame_id
# The twist in this message should be specified in the coordinate frame given by the child_frame_id

# Includes the frame id of the pose parent.
std_msgs/Header header

# Frame id the pose points to. The twist is in this coordinate frame.
string child_frame_id

# Estimated pose that is typically relative to a fixed world frame.
geometry_msgs/PoseWithCovariance pose

# Estimated linear and angular velocity relative to child_frame_id.
geometry_msgs/TwistWithCovariance twist

演示视频