Beginner Tutorials

1. 编写简单的发布者和订阅者

   这个教程将引导您创建一个ROS包和两个简单的rospy节点。talker节点将在chatter话题上广播一个消息，而listener节点将接收并输出该消息。

2. Writing a Simple Service and Client

   This tutorial covers how to write a service and client node in python.

3. Using Parameters in rospy

   This tutorial covers the various ways in which you can get and set Parameters in rospy. Getting, setting and deleting parameters from a rospy Node is fairly simple.

4. Logging with rospy

   Logging messages to rosout is easy with rospy and encouraged. When you are running many nodes, seeing the command-line output of your node gets very difficult. Instead, it is much easier to publish a debugging message to rosout and then view it with rqt_console / rxconsole. *console is "over-console" of ROS and lets you view and filter the logging messages from all ROS nodes.

5. Writing a ROS Python Makefile

   I know what you're saying: "Python... Makefile?" Believe it or not, you do need Makefile (and CMakeLists), even if you just hack Python all day.

6. Setting Up Your PYTHONPATH

   What to do to find other python modules

7. Using numpy with rospy

   This tutorial covers using numpy with rospy, the ROS Python client library. Numpy is a popular scientific computing package for Python. You will often want to consider using Numpy with rospy if you are working with sensor data as it has better performance and many libraries for manipulating arrays of data.

Intermediate Tutorials

1. Publishing messages in rospy

   Writing a simple publisher and subscriber already introduced you to the basics of creating rospy Nodes that publish and receive messages on ROS Topics. As you get more experienced with ROS and rospy, you may wish to learn some advanced syntax for publishing that will save you some typing -- as well as make your code more robust to future changes.

2. Python CompressedImage Subscriber Publisher

   This example subscribes to a ros topic containing sensor_msgs::CompressedImage. It converts the CompressedImage into a numpy.ndarray, then detects and marks features in that image. It finally displays and publishes the new image - again as CompressedImage topic.

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