1 ros介绍

传输数据使用话题，控制使用服务。



build存放编译时产生的临时（二进制）文件，devel存放编译文件和库文件。

环境变量可在.bashrc隐藏文件中写入不用每次输入

2 话题模型

3 服务模型

4 参数模型

5 坐标变换 TF

6 launch启动

 <launch>

    <!-- Turtlesim Node-->
    <node pkg="turtlesim" type="turtlesim_node" name="sim"/>
    <node pkg="turtlesim" type="turtle_teleop_key" name="teleop" output="screen"/>

    <node pkg="learning_tf" type="turtle_tf_broadcaster" args="/turtle1" name="turtle1_tf_broadcaster" />
    <node pkg="learning_tf" type="turtle_tf_broadcaster" args="/turtle2" name="turtle2_tf_broadcaster" />

    <node pkg="learning_tf" type="turtle_tf_listener" name="listener" />

  </launch>

<launch>

	<param name="/turtle_number"   value="2"/>

    <node pkg="turtlesim" type="turtlesim_node" name="turtlesim_node">
		<param name="turtle_name1"   value="Tom"/>
		<param name="turtle_name2"   value="Jerry"/>

		<rosparam file="$(find learning_launch)/config/param.yaml" command="load"/>
	</node>

    <node pkg="turtlesim" type="turtle_teleop_key" name="turtle_teleop_key" output="screen"/>

</launch>

8 qt工具箱

参考链接：
古月居ros入门21讲
ros官网 https://www.ros.org/
roswiki http://wiki.ros.org/