1. 运行master节点

roscore

2. 打开 ROS-Academy-for-Beginners 的模拟场景

输入命令

	roslaunch	robot_sim_demo robot_spawn_launch

我们看到仿真的模拟环境。该launch 文件启动了模拟场景、机器人。

3. 查看当前模拟器中存在的topic

输入命令:

rostopic	list

可以看到许多topic,它们可以视为模拟器与外界交互的接口。结果如下

$ rostopic list
/camera/depth/camera_info
/camera/depth/image_raw
/camera/depth/points
/camera/parameter_descriptions
/camera/parameter_updates
/camera/rgb/camera_info
/camera/rgb/image_raw
/camera/rgb/image_raw/compressed
/camera/rgb/image_raw/compressed/parameter_descriptions
/camera/rgb/image_raw/compressed/parameter_updates
/camera/rgb/image_raw/compressedDepth
/camera/rgb/image_raw/compressedDepth/parameter_descriptions
/camera/rgb/image_raw/compressedDepth/parameter_updates
/camera/rgb/image_raw/theora
/camera/rgb/image_raw/theora/parameter_descriptions
/camera/rgb/image_raw/theora/parameter_updates
/clock
/cmd_vel
/cmd_vel_mux/active
/cmd_vel_mux/input/avoid
/cmd_vel_mux/input/navi
/cmd_vel_mux/input/safety_controller
/cmd_vel_mux/input/switch
/cmd_vel_mux/input/teleop
/cmd_vel_mux/parameter_descriptions
/cmd_vel_mux/parameter_updates
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/gazebo_gui/parameter_descriptions
/gazebo_gui/parameter_updates
/imu
/joint_states
/mobile_base_nodelet_manager/bond
/odom
/rosout
/rosout_agg
/scan
/tf
/tf_static
/xbot/joint_states
/xbot/pitch_platform_position_controller/command
/xbot/pitch_platform_position_controller/pid/parameter_descriptions
/xbot/pitch_platform_position_controller/pid/parameter_updates
/xbot/pitch_platform_position_controller/state
/xbot/yaw_platform_position_controller/command
/xbot/yaw_platform_position_controller/pid/parameter_descriptions
/xbot/yaw_platform_position_controller/pid/parameter_updates
/xbot/yaw_platform_position_controller/state

4. 查询topic /camera/rgb/image_raw 的相关信息

$ rostopic info /camera/rgb/image_raw
Type: sensor_msgs/Image

Publishers: 
 * /gazebo (http://gangma:38359/)

Subscribers: None

则会显示类型信息type,发布者和订阅者的信息。

5. 控制机器人运动

打开新窗口运行命令：

 rosrun robot_sim_demo robot_keyboard_teleop.py

通过上面的快捷键可以实现控制机器人的运动。

6. 打开RGB摄像头捕获窗口

在新的terminal中输入命令：

 rosrun image_view image_view image:=/camera/rgb/image_raw

7. 打开depth捕获窗口

在新的terminal中输入命令：

rosrun image_view image_view image:/camera/depth/image_raw