main.tex

% ROS CHEAT SHEET created by Gary - gary.granados@gmail.com.
% For learning ROS, this documents attempts to make easier looking for 
% specific *basic* stuff while starting to use ROS
% 
% 
% 
% Copyright (C)  2018  Edgar Granados Osegueda.
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\begin{center}
     \Large{\textbf{ROS CHEAT SHEET}} \\
\end{center}

\section{Usage of the Cheat Sheet}
\begin{tabular}{@{}ll@{}}
\verb!command! & Explanation of command, ``$ \vdash $'' marks options. \\
$\vdash $ opt\_1 & Use as written  \\
$\vdash $ $\vdash $ \textit{options} & If italics, replace with adecuate value for \textit{opt\_1} \\
$\vdash $ [\textit{other}]$^+$ & Use one or more \textit{other} options \\

% \verb!! & \\
% \verb!! & \\
% $\vdash $  &  \\
% $\vdash $  &  \\
% $\vdash $  &  \\
\end{tabular}

\section{File System}
\begin{tabular}{@{}ll@{}}
\verb!catkin_make! & Compile a project. \\
$\vdash $ \verb!clean! & Remove build, devel \& install spaces   \\
$\vdash $ \verb!--pkg! [\textit{pkg}]$^+$    & Compile only \textit{PKG \dots}   \\
\verb!catkin_create_pkg ! & Creates a new catkin package \\
$\vdash $ \textit{pkg\_name} & Init package of name \textit{pkg\_name}  \\
$\vdash $ $\vdash $ \textit{deps} & Init pkg with specified dependencies  \\
\verb!source! & Executes commands from a file \\
$\vdash $ devel/setup.bash & \textit{Tells } the terminal about the compiled  \\
                           & workspace. Run it in each terminal. \\

\end{tabular}

\subsection{Create a New Project}
\verb!mkdir -p !\textit{project\_name}\verb!/src! \\
\verb!catkin_make! 





\section{Common Tools}
\begin{tabular}{@{}ll@{}}
\verb!roscore! & Starts a Master, the Parameter Server and a rosout  \\
\textbar       & logging node. A Master must be always up.\\
% \textbar       &  \\
\end{tabular}

\begin{tabular}{@{}ll@{}}
\verb!rosmsg!/\verb!rossrv! & Get info of ROS messages/services   \\
$\vdash $ show & Show message/services description  \\
$\vdash $ list & List all messages/services  \\
$\vdash $ package & List messages in a package  \\
\end{tabular}

\begin{tabular}{@{}ll@{}}
\verb!rosrun ! & Used to execute ROS nodes \\
$\vdash $ \textit{PKG} \textit{EXEC} & Execute \textit{EXEC} of package \textit{PKG} \\
$\vdash $ $\vdash $ [\textit{ARGS}]$^+$ & Execute with \textit{ARGS}  \\
\end{tabular}

\begin{tabular}{@{}ll@{}}
\verb!rosnode! & Prints info of ROS nodes \\
$\vdash $ ping \textit{node} & Test connectivity of \textit{node}  \\
$\vdash $ list & Prints all ROS nodes available \\
$\vdash $ info \textit{node} & Prints information of \textit{node} \\
$\vdash $ machine \textit{node} & Prints the machine \textit{node} is running \\
$\vdash $ kill \textit{node} & Kills the running \textit{node}  \\
\end{tabular}

\begin{tabular}{@{}ll@{}}
\verb!roslaunch! & Easily launch multiple nodes. If there is\\
\textbar  &  no Master up, it also starts one. \\
$\vdash $ \textit{pkg} \textit{file} & Launches \textit{file} from \textit{pkg} \\
$\vdash $ $\vdash $ \textit{arg}:=\textit{val}  & Use \textit{arg} with value \textit{val} \\
\end{tabular}

\begin{tabular}{@{}ll@{}}
\verb!rostopic! & Prints info of ROS topics \\
$\vdash $ echo /\textit{topic}& Prints message from /\textit{topic} to screen \\
$\vdash $ $\vdash $ -n \textit{num} & Prints \textit{num} messages \\
$\vdash $ hz & display publishing rate of topic   \\
$\vdash $ info /\textit{topic} & Prints info of /\textit{topic} \\
$\vdash $ list & Prints all ROS topics available \\
$\vdash $ pub /\textit{X} \textit{Y} \textit{m} & Publishes \textit{m} to /\textit{X} of type \textit{Y}  \\
$\vdash $ $\vdash $ \verb!'{!\textit{field}\verb!}'!  & Create message in-line  \\
$\vdash $ type /\textit{topic} & Prints the message type of /\textit{topic}  \\
\end{tabular}

\begin{tabular}{@{}ll@{}}
\verb!rosservice! & Prints info of ROS services \\
$\vdash $ args /\textit{srv} & Print service arguments \\
$\vdash $ call /\textit{srv} [\textit{args}]$^*$ & call /\textit{srv} with \textit{args} \\
$\vdash $ info /\textit{srv} & Print info of service /\textit{srv}  \\
$\vdash $ list & Print all ROS services available \\
$\vdash $ type /\textit{srv} & Prints the type of \textit{srv}  \\
\end{tabular}

\begin{tabular}{@{}ll@{}}
\verb!rosparam! & Change params of the Param Server \\
$\vdash $ set \textit{par} \textit{v} & Set \textit{par} with value \textit{v} \\
$\vdash $ get \textit{par} & Get the value of \textit{par} \\
$\vdash $ delete \textit{par} & Delete \textit{par} \\
$\vdash $ list & Print all available parameters \\
\end{tabular}

\section{ROS Variables}
Linux environment variables specific of ROS, set for each terminal. \\
\begin{tabular}{@{}ll@{}}
\verb!ROS_ROOT! & Path to where ROS is installed \\
\verb!ROS_MASTER_URI! & Tells nodes where to locate the  \\
\textbar & Master, by default: http://localhost:11311/ \\
\verb!ROS_HOSTNAME! & Specifies the host name of the nodes. \\
\textbar & It takes precedence over \verb!ROS_IP! \\
\verb!ROS_IP! & Specifies the IP of the nodes \\
\verb!ROS_DISTRO! & Specifies the current ROS distribution\\

\end{tabular}


\subsection{Linux Commands for Env. Vars.}
\begin{tabular}{@{}ll@{}}
\verb!export! \textit{var}=\textit{val} & Exports (\textit{sets}) \textit{var} to \textit{val} \\
\verb!echo! \$\textit{var} & Prints the value of \textit{var}  \\
\end{tabular}

\subsection{Connect Multiple Machines}
Define where the Master is going to run and get the ip (\textit{master\_ip}). In each terminal of all computers: \\
\verb!export ROS_HOSTNAME=computer_hostname!
\verb!export ROS_MASTER_URI=http://master_ip:11311/!


\section{Useful Packages}
\begin{tabular}{@{}ll@{}}
\verb!rosbag! & Tool for using ROSBags \\
$\vdash $ info \textit{bag} & Prints the metadata of a rosbag  \\
$\vdash $ record [/\textit{topic}]$^*$ & Records topic data to a bag file \\
$\vdash $ $\vdash $ -a & Record all topics  \\
$\vdash $ $\vdash $ -O \textit{name} & Save bag file as \textit{name}.bag \\
$\vdash $ $\vdash $ --node=\textit{N} & Save all topics from node \textit{N}\\
$\vdash $ check \textit{bag} & Determine if a bag is playable \\
$\vdash $ filter \textit{in} \textit{out} \textit{exp} & Creates \textit{out} by filtering \textit{in} using \textit{exp} \\
$\vdash $ fix \textit{bag} & Attempts to fix a corrupted bag \\
$\vdash $ play \textit{bag} & Plays \textit{bag}  \\

\verb!rqt! & Launch the main widget.\\
\verb!rqt_bag! & GUI for handling rosbags \\
\verb!rqt_graph! & Vizualize nodes, topics \& services\\
\verb!rqt_image_view! & Display images from topics \\
\verb!rqt_plot! & Plot data from topics \\

\verb!rviz! & 3D visualization tool for ROS\\

\verb!Gazebo! & Robot simulator\\

\verb!rosserial_python! & Connect serial devices, rosrun required. \\
$\vdash $ serial\_node \textit{p} & Connect a device in port \textit{p} with ROS. \\


\end{tabular}


\section{CMakeLists}
\begin{tabular}{@{}ll@{}}
\verb!find_package( catkin! & Find catkin macros and libraries \\
$\vdash $ REQUIRED COMPONENTS & find other catkin packages \\
$\vdash $ $\vdash $ roscpp & ROS library for c++  \\
$\vdash $ $\vdash $ rospy & ROS library for python  \\
$\vdash $ $\vdash $ std\_msgs & ROS standard messages  \\
$\vdash $ $\vdash $ geometry\_msgs & ROS geometry messages  \\
$\vdash $ ) &  \\
\end{tabular}

\begin{tabular}{@{}ll@{}}
\verb!include_directories(! & Other locations of headers \\
$\vdash $ include & \\
$\vdash $ \$\{catkin\_INCLUDE\_DIRS\} & catkin directories \\
$\vdash $ ) & \\
\end{tabular}

\begin{tabular}{@{}ll@{}}
\verb!add_executable(! & Create an executable \\
$\vdash $ \textit{exec\_name} & of name \textit{exec\_name}  \\
$\vdash $ \textit{file.cpp} & from the source \textit{file.cpp}  \\
$\vdash $ ) &  \\
\end{tabular}

\begin{tabular}{@{}ll@{}}
\verb!target_link_libraries(! & Tell cmake to link the executable \\
$\vdash $ \textit{exec\_name} & \textit{exec\_name} against the libraries \\
$\vdash $ [\$\{ \textit{lib\_name} \}]$^+$ &  \textit{lib\_name} \\
$\vdash $ ) &  \\
\end{tabular}


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Created by Gary, 2018.

\href{https://github.com/garygra/ROS_cheat_sheet}{Github Page}


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