ROS Command-line tools
ROS Command-line tools
- Common user tools
- Graphical tools
- Less-used tools
Common user tools
The following tools are built when a top-level make is called in $ROS_ROOT. They are installed to $ROS_ROOT/bin, which should have been added to your PATH variable as part of the installation process. If this is not the case, please follow the Installation Guide
See ROS/Tutorials/reading msgs from a bag file for help and a tutorial on how to use the 3rd-party ros_readbagfile command-line tool.
rosbash is not a command, but rather a suite of commands and functionality. It requires that you source the contents of the rosbash file
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 is part of the 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.
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,
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:
New in C Turtle
Cleanup filesystem resources (e.g. log files) created by ROS. See rosclean.
Documented at rosdep, this installs system dependencies
rosdep install PACKAGE_NAME
rosed is part of the rosbash suite. It allows you to directly edit a file within a package by package name rather than having to know the package path.
rosed packagename filename
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.
rosrun allows you to run an executable in an arbitrary package without having to cd (or roscd) there first.
rosrun package executable
rosrun roscpp_tutorials talker
Removed in ROS 1.4: this is now part of the rosinstall tool
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.
See the rosmake page.
See the rospack page.
rosparam enables getting and setting parameter server values from the command-line using YAML-encoded text.
See the rosstack page.
New in Diamondback
Report the version of a ROS stack.
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_deps generates a PDF of ROS dependencies.
rqt_graph displays an interactive graph of ROS nodes and topics. See the rosgraph package for documentation.
rqt_plot plots numerical data on a ROS topic over time.
The following tools may be commonly used by internal tools, but aren't often used by end users.
See the roslib page