从零到端到端自动驾驶实战-第 10 章-ROSMASTER-X3 基础——让小车跑起来

ros1

启动服务：

Last login: Mon Jun  8 23:21:23 2026 from 172.20.10.8
workspace link to X3 + ROBOT_TYPE: X3
-----------------------
MY_IP: 172.20.10.10
ROS_MASTER_URI: 
http://172.20.10.10:11311
my_robot: X3 | my_lidar: a1 | my_camera: astraplus
-----------------------
jetson@yahboom:~$ roscore
... logging to /home/jetson/.ros/log/f8268026-634d-11f1-b926-488f4cfd4176/roslaunch-yahboom-21687.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://172.20.10.10:38629/
ros_comm version 1.14.13

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES

auto-starting new master
process[master]: started with pid [22035]
ROS_MASTER_URI=http://172.20.10.10:11311/

setting /run_id to f8268026-634d-11f1-b926-488f4cfd4176
process[rosout-1]: started with pid [22083]
started core service [/rosout]

相关操作：

jetson@yahboom:~$ source /opt/ros/melodic/setup.bash
jetson@yahboom:~$ source ~/yahboomcar_ws/devel/setup.bash
jetson@yahboom:~$ pwd
/home/jetson
jetson@yahboom:~$ ls -l
total 240
-rw-rw-r--  1 jetson jetson 130601 11月  1  2022 2022-11-01-21-29-01.bag
-rw-rw-r--  1 jetson jetson      0 7月   4  2023 bashrc
-rwxrwxrwx  1 jetson jetson  10284 6月  28  2022 damaged.jpg
drwxrwxrwx  2 jetson jetson   4096 11月 29  2022 Desktop
drwxrwxrwx  2 jetson jetson   4096 9月  23  2022 Documents
drwxrwxrwx  2 jetson jetson   4096 1月  23  2025 Downloads
-rwxrwxrwx  1 jetson jetson   8980 12月 11  2021 examples.desktop
drwxrwxrwx  6 jetson jetson   4096 9月  23  2022 KNN
drwxrwxrwx  2 jetson jetson   4096 9月  23  2022 Music
drwxrwxrwx  3 jetson jetson   4096 9月  23  2022 opencv_apps
drwxrwxrwx  2 jetson jetson   4096 4月  19  2024 Pictures
drwxrwxrwx  2 jetson jetson   4096 9月  23  2022 program
drwxrwxrwx  2 jetson jetson   4096 9月  23  2022 Public
drwxr-xr-x  2 jetson jetson   4096 11月 17  2022 __pycache__
drwxrwxrwx  3 jetson jetson   4096 9月  23  2022 Pytorch_demo
drwxrwxrwx  8 jetson jetson   4096 7月   4  2023 ROS
drwxrwxrwx  8 jetson jetson   4096 4月  16  2024 Rosmaster
drwxrwxrwx 21 jetson jetson   4096 12月 14  2023 software
drwxrwxrwx  2 jetson jetson   4096 9月  23  2022 Templates
drwxrwxrwx  3 jetson jetson   4096 9月  23  2022 TensorFlow_demo
-rwxrwxrwx  1 jetson jetson    757 7月  25  2024 Version.txt
drwxrwxrwx  2 jetson jetson   4096 9月  23  2022 Videos
-rwxrwxrwx  1 jetson jetson    366 4月   8  2022 voice_ctrl_test.py
lrwxrwxrwx  1 jetson jetson     33 6月   8 23:21 yahboomcar_ws -> /home/jetson/ROS/X3/yahboomcar_ws
-rwxrwxrwx  1 jetson jetson  11030 8月   5  2021 yahboom.jpg
jetson@yahboom:~$ rosnode list
ERROR: Unable to communicate with master!
jetson@yahboom:~$ rosnode list
/rosout
jetson@yahboom:~$ rostopic list
/rosout
/rosout_agg
jetson@yahboom:~$ rosnode info /rosout
--------------------------------------------------------------------------------
Node [/rosout]
Publications: 
 * /rosout_agg [rosgraph_msgs/Log]

Subscriptions: 
 * /rosout [unknown type]

Services: 
 * /rosout/get_loggers
 * /rosout/set_logger_level

contacting node http://172.20.10.10:40375/ ...
Pid: 22083

jetson@yahboom:~$ rostopic echo /rosout_agg
^Cjetson@yahboom:~$ rosservice list
/rosout/get_loggers
/rosout/set_logger_level
jetson@yahboom:~$ rosnode list | grep -i driver
jetson@yahboom:~$ 

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