# ROS Command Line Tools [ROS](http://wiki.ros.org/ROS)[/CommandLineTools](http://wiki.ros.org/action/fullsearch/ROS/CommandLineTools?action=fullsearch\&context=180\&value=linkto%3A%22ROS%2FCommandLineTools%22) ## Common user tools ### rosbag [rosbag](http://wiki.ros.org/rosbag) is a command-line tool for performing various operations on ROS [bag files](http://wiki.ros.org/Bags), including playing, recording, and validating. ### ros\_readbagfile See \[ROS/Tutorials/reading msgs from a bag file]\( msgs from a bag file) for help and a tutorial on how to use the 3rd-party `ros_readbagfile` command-line tool. ### rosbash [rosbash](http://wiki.ros.org/rosbash) is not a command, but rather a suite of commands and functionality. It requires that you source the contents of the rosbash file ``` source $ROS_ROOT/tools/rosbash/rosbash ``` which, if you followed the installation guide, should already be done by your bashrc file. rosbash provides the commands `roscd` and `rosed`, in addition to adding correct tab-completion functionality to `roscd`, `rosed`, `rosmake`, and `rosrun`. ### roscd `roscd` is part of the [rosbash](http://wiki.ros.org/rosbash) suite. It allows you to cd directly to a package, stack, or common location by name rather than having to know the package path. Usage: ``` roscd locationname[/subdir] ``` Example: ``` roscd roscpp/include ``` roscd without an argument will take you `$ROS_ROOT`. In addition to your packages and stacks, there are some common locations, "log", and "test\_results" which will take you directly to those locations. For advanced users, you can extend `roscd` with your own keywords by modifying the `$ROS_LOCATIONS` environment variable to contain a colon-separated list of keys and locations that will be included in the roscd path. For example, ``` export $ROS_LOCATIONS="rospkg=/path/to/rospkg:stairpkg=/path/to/stairpkg" ``` Prior to ROS-0.8, you could roscd to the first directory on your `$ROS_PACKAGE_PATH` using the pkg keyword. This functionality can be restored with: ``` export $ROS_LOCATIONS="pkg=$ROS_PACKAGE_PATH" ``` ### rosclean **New in C Turtle** Cleanup filesystem resources (e.g. log files) created by ROS. See [rosclean](http://wiki.ros.org/rosclean). ### roscore [roscore](http://wiki.ros.org/roscore) runs the ROS Core Stack ([Master](http://wiki.ros.org/Master), \[Parameter Server]\( Server), [rosout](http://wiki.ros.org/rosout), etc...). ### rosdep Documented at [rosdep](http://wiki.ros.org/rosdep), this installs system dependencies Usage: ``` rosdep install PACKAGE_NAME ``` ### rosed `rosed` is part of the [rosbash](http://wiki.ros.org/rosbash) suite. It allows you to directly edit a file within a package by package name rather than having to know the package path. Usage: ``` rosed packagename filename ``` Example: ``` rosed roscpp ros.h ``` If the filename is not uniquely defined within the package, a menu will prompt you to choose which of the possible files you want to edit. `rosed` will open the editor defined in your `$EDITOR` environmental variable, or else default to `vim`. ### roscreate-pkg `roscreate-pkg` creates common [Manifest](http://wiki.ros.org/Manifest), [CMakeLists](http://wiki.ros.org/CMakeLists), [Doxygen](http://wiki.ros.org/Doxygen) and other files necessary for a new ROS package. It is part of the [roscreate](http://wiki.ros.org/roscreate) package. ### roscreate-stack `roscreate-stack` creates common \[Stack Manifest]\( Manifest), [CMakeLists](http://wiki.ros.org/CMakeLists) and other files necessary for a new ROS stack. It is part of the [roscreate](http://wiki.ros.org/roscreate) package. ### rosrun `rosrun` allows you to run an executable in an arbitrary package without having to cd (or roscd) there first. Usage: ``` rosrun package executable ``` Example: ``` rosrun roscpp_tutorials talker ``` ### roslaunch [roslaunch](http://wiki.ros.org/roslaunch) launches a set of nodes from an XML configuration file and includes support for launching on remote machines. More documentation is available on the [roslaunch page](http://wiki.ros.org/roslaunch). ### roslocate **Removed in ROS 1.4: this is now part of the** [**rosinstall**](http://wiki.ros.org/rosinstall) **tool** [roslocate](http://wiki.ros.org/roslocate) finds the repository that a ROS package is stored in, e.g. `roslocate svn tf`. It makes it easy to quickly checkout the source of a package: `svn co` roslocate svn tf\`\`. More documentation is available on the [roslocate page](http://wiki.ros.org/roslocate). ### rosmake See the [rosmake](http://wiki.ros.org/rosmake) page. ### rosmsg [rosmsg](http://wiki.ros.org/rosmsg) displays [Message](http://wiki.ros.org/Message) data structure definitions. More documentation is available on the [rosmsg page](http://wiki.ros.org/rosmsg). ### rosnode [rosnode](http://wiki.ros.org/rosnode) displays runtime node information and lets you ping nodes to check connectivity. More documentation is available on the [rosnode page](http://wiki.ros.org/rosnode). ### rospack See the [rospack](http://wiki.ros.org/rospack) page. ### rosparam [rosparam](http://wiki.ros.org/rosparam) enables getting and setting parameter server values from the command-line using YAML-encoded text. ### rossrv [rossrv](http://wiki.ros.org/rossrv) displays Service [srv](http://wiki.ros.org/srv) data structure definitions. More documentation is available on the [rossrv page](http://wiki.ros.org/rossrv). ### rosservice [rosservice](http://wiki.ros.org/rosservice) displays run-time information about [Services](http://wiki.ros.org/Services) and also lets you print out messages being sent to a topic. More documentation is available on the [rosservice page](http://wiki.ros.org/rosservice). ### rosstack See the [rosstack](http://wiki.ros.org/rosstack) page. ### rostopic [rostopic](http://wiki.ros.org/rostopic) displays run-time information about [Topics](http://wiki.ros.org/Topics) and also lets you print out messages being sent to a topic. More documentation is available on the [rostopic page](http://wiki.ros.org/rostopic). ### rosversion ## Graphical tools The ROS graphical tools often require additional dependencies before they can be used, such as graphviz and Python GTK. You can use `bash <(rosdep satisfy PACKAGE_NAME)` to quickly install the dependencies for these tools. ### rqt\_bag [rqt\_bag](http://wiki.ros.org/rqt_bag) is a graphical tool for viewing data in ROS [bag files](http://wiki.ros.org/Bags). ### rqt\_deps [rqt\_deps](http://wiki.ros.org/rqt_deps) generates a PDF of ROS dependencies. ### rqt\_graph `rqt_graph` displays an interactive graph of ROS nodes and topics. See the [rosgraph](http://wiki.ros.org/rosgraph) package for documentation. 如果工具未安装，可以使用以下命令安装： ```shell # 替换为对应的ROS版本，如：kinetic $ sudo apt install ros--rqt $ sudo apt install ros--rqt-common-plugins ``` 在节点运行后，在命令行输入`rqt_graph`和`rosrun rqt_graph rqt_graph`，即可看到表示各节点之间关系的网络拓扑图。 ```shell $ rqt_graph # 或者 $ rosrun rqt_graph rqt_graph ``` ![image-20220705185125331](https://2697293255-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F9Z2kBobM3U7OTZL9n6rv%2Fuploads%2Fgit-blob-05b47b4493c4c388a88ee4525d78d5a7d75288ca%2Fimage-20220705185125331.png?alt=media) ### rqt\_plot [rqt\_plot](http://wiki.ros.org/rqt_plot) plots numerical data on a ROS topic over time. ## Less-used tools The following tools may be commonly used by internal tools, but aren't often used by end users. ### gendeps See the [roslib](http://wiki.ros.org/roslib) page