ROS2银河ROS2安装包括哪些工具？

Question

使用以下方法安装了哪些工具：

sudo apt install ros-galactic-ros-base

在官方教程(https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html，ROS-Base )中，编写的安装包括:通信库、消息包、命令行工具。没有GUI工具。什么是特别是命令行工具？

Answer 1

ROS 2命令行工具主要指套餐和公共扩展。它们通常在ROS 2教程中使用。下面列出了一些常用的命令行工具：

• ros2 run用于从已安装的ROS包执行程序。
• ros2 param允许您与节点参数交互。
• ros2 topic帮助您内省有关活动ROS主题的信息。
• ros2 launch用于执行启动文件。

要获得ros2cli已安装扩展的更完整列表，可以简单地在终端中运行ros2命令。

$ ros2
usage: ros2 [-h] [--use-python-default-buffering] Call `ros2 <command> -h` for more detailed usage. ...

ros2 is an extensible command-line tool for ROS 2.

optional arguments:
  -h, --help            show this help message and exit
  --use-python-default-buffering
                        Do not force line buffering in stdout and instead use the python default buffering, which might be affected by
                        PYTHONUNBUFFERED/-u and depends on whatever stdout is interactive or not

Commands:
  bag        Various rosbag related sub-commands
  component  Various component related sub-commands
  daemon     Various daemon related sub-commands
  doctor     Check ROS setup and other potential issues
  interface  Show information about ROS interfaces
  launch     Run a launch file
  node       Various node related sub-commands
  param      Various param related sub-commands
  pkg        Various package related sub-commands
  run        Run a package specific executable
  service    Various service related sub-commands
  test       Run a ROS2 launch test
  topic      Various topic related sub-commands
  wtf        Use `wtf` as alias to `doctor`

  Call `ros2 <command> -h` for more detailed usage.