Robot Operating System Cookbook

Getting rosinstall

rosinstall is a frequently used command-line tool in ROS that is distributed separately. It enables us to easily download several source trees for the ROS packages with a single command.

This tool is based on Python and can be installed using the following command:

$ sudo apt-get install python-rosinstall

As a basic example, we could run an ROS core on one terminal:

$ roscore

And from another terminal, we can publish a pose message:

$ rostopic pub /dummy geometry_msgs/Pose Position: x: 3.0 y: 1.0 z: 2.0 Orientation: x: 0.0 y: 0.0 z: 0.0 w: 1.0 -r 8

Moreover, we could set ROS_MASTER_URI on our desktop system (in the same network) to point to our ARM Platform (IP 192.168.X.X).

On your laptop, add the following:

$ export ROS_MASTER_URI=http://192.168.1.6:11311 ...