1.查看存在的topic: ros2 topic list
2.输出某个topic的信息: ros2 topic echo [topic_name] #example: ros2 topic echo /gps/fix
3.查看存在的node: ros2 node list
4.查看某个node的信息: ros2 node info /ekf_filter_node_map
5.查看参考系到目标系的转换: ros2 run tf2_ros tf2_echo [reference_frame] [target_frame] #example:ros2 run tf2_ros tf2_echo odom base_link
6.输出tf树的PDF: ros2 run tf2_tools view_frames
7.查看tf树的状态: ros2 run rqt_tf_tree rqt_tf_tree
8.查看诊断(异常时可提供线索): ros2 topic echo /diagnostics
9.运行ros1和ros2信息转换模块: ros2 run ros1_bridge dynamic_bridge --bridge-all-topics #需要提前安装和正确source
10.转换某个经纬度到UTM(需要该服务已成功建立启动):
ros2 service call /fromLL robot_localization/srv/FromLL "ll_point:
latitude: 31.16662080071
longitude: 121.28814801092
altitude: 3.9131"
来自:上海代数律动技术有限公司
