(CBR2-7) Aula 7 - Comandos de Serviços e Parâmetros(Curso Básico de ROS2-Vel.1,25)

Описание: Comandos utilizados na aula de hoje (Comandos do ROS2 sobre serviços e parâmetros):

ros2 run turtlesim turtlesim_node

ros2 run turtlesim turtle_teleop_key

ros2 service list

ros2 service type /reset

ros2 service call /reset std_srvs/srv/Empty

ros2 service type /turtle1/teleport_absolute

ros2 interface show turtlesim/srv/TeleportAbsolute

ros2 service call /turtle1/teleport_absolute turtlesim/srv/TeleportAbsolute "{x: 7.0, y: 7.0, theta: 3.14}"

ros2 service type /spawn

ros2 interface show turtlesim/srv/Spawn

ros2 service call /spawn turtlesim/srv/Spawn "{x: 2.0, y: 2.0, theta: 0.0}"

ros2 service call /spawn turtlesim/srv/Spawn "{x: 4.0, y: 4.0, theta: 3.14, name: 'turtle3'}"

ros2 service type /kill

ros2 interface show turtlesim/srv/Kill

ros2 service call /kill turtlesim/srv/Kill "name: 'turtle2'"

ros2 service list -t

rqt

ros2 param list

ros2 param get /turtlesim background_b

ros2 param set /turtlesim background_b 0

ros2 param dump /turtlesim

(no comando abaixo, substituir o texto "maiorque" pelo caractere correspondente. As descrições do youtube não permitem usar esse caractere!!)
ros2 param dump /turtlesim maiorque turtlesim.yaml

ros2 param load /turtlesim turtlesim.yaml

ros2 run turtlesim turtlesim_node --ros-args --params-file turtlesim.yaml

ros2 run turtlesim turtle_teleop_key

ros2 node info /turtlesim

ros2 node info /teleop_turtle

ros2 action list

ros2 action list -t

ros2 action type /turtle1/rotate_absolute

ros2 action info /turtle1/rotate_absolute

ros2 interface show turtlesim/action/RotateAbsolute

ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute "{theta: 1.57}"

ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute "{theta: -1.57}" --feedback