摘自：https://blog.csdn.net/m0_37972797/article/details/86531041?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.control&dist_request_id=205fa6f2-fdae-4912-b2df-41ee22cd0967&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.control

ROS 中功能包的安裝與查詢

小北看看 2019-01-17 21:00:02 8770 收藏 25

文章标簽： ros

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ROS小白，rqt_graph指令之前能夠使用，可能前期某些ROS重裝或者更新造成rqt_graph與rviz不能使用。

重新安裝ros-kinetic-rqt-graph包後運作成功。有必要記錄一下ros環境下功能包的查詢與安裝過程

1.查詢目前安裝完成的所有封包件

 rospack  list

可以看到所有的ROS功能包都在/opt/ros/kinetic/share目錄下，是以也可以使用如下指令查詢

cd /opt/ros/kinetic/share/

or

roscd turtlesim/

cd ..

2.查詢ros的所有功能包

 apt-cache search ros-kinetic

或者說在不知道要安裝功能包的确切名字的情況下找到目标包

 apt-cache search ros-kinetic | grep rqt-

通過管道線 與grep指令， 輸出與關鍵字rqt-相關的行

再或者下述安裝指令與Tab鍵結合

sudo apt-get install ros-kinetic-rqt-

系統輸出相應提示。

前述所有内容中，rospack list  與sudo apt-get install ros-kinetic-rqt- +Tab鍵使用最友善。

==============================================================================

我用rospack list看了下我筆記本上Ubuntu裡的ROS功能包。裡面也可以找到普羅米修斯的。

[email protected]:~$  rospack  list
actionlib /opt/ros/melodic/share/actionlib
actionlib_msgs /opt/ros/melodic/share/actionlib_msgs
actionlib_tutorials /opt/ros/melodic/share/actionlib_tutorials
angles /opt/ros/melodic/share/angles
bond /opt/ros/melodic/share/bond
bondcpp /opt/ros/melodic/share/bondcpp
bondpy /opt/ros/melodic/share/bondpy
bspline_opt /home/maxi/Prometheus/Modules/planning/FastPlanner/bspline_opt
camera_calibration /opt/ros/melodic/share/camera_calibration
camera_calibration_parsers /opt/ros/melodic/share/camera_calibration_parsers
camera_info_manager /opt/ros/melodic/share/camera_info_manager
cartographer /opt/ros/melodic/share/cartographer
cartographer_ros /opt/ros/melodic/share/cartographer_ros
cartographer_ros_msgs /opt/ros/melodic/share/cartographer_ros_msgs
cartographer_rviz /opt/ros/melodic/share/cartographer_rviz
catkin /opt/ros/melodic/share/catkin
class_loader /opt/ros/melodic/share/class_loader
cmake_modules /opt/ros/melodic/share/cmake_modules
compressed_depth_image_transport /opt/ros/melodic/share/compressed_depth_image_transport
compressed_image_transport /opt/ros/melodic/share/compressed_image_transport
control_msgs /opt/ros/melodic/share/control_msgs
control_toolbox /opt/ros/melodic/share/control_toolbox
controller_interface /opt/ros/melodic/share/controller_interface
controller_manager /opt/ros/melodic/share/controller_manager
controller_manager_msgs /opt/ros/melodic/share/controller_manager_msgs
costmap_2d /opt/ros/melodic/share/costmap_2d
cpp_common /opt/ros/melodic/share/cpp_common
cv_bridge /opt/ros/melodic/share/cv_bridge
ddynamic_reconfigure /opt/ros/melodic/share/ddynamic_reconfigure
depth_image_proc /opt/ros/melodic/share/depth_image_proc
diagnostic_aggregator /opt/ros/melodic/share/diagnostic_aggregator
diagnostic_analysis /opt/ros/melodic/share/diagnostic_analysis
diagnostic_common_diagnostics /opt/ros/melodic/share/diagnostic_common_diagnostics
diagnostic_msgs /opt/ros/melodic/share/diagnostic_msgs
diagnostic_updater /opt/ros/melodic/share/diagnostic_updater
diff_drive_controller /opt/ros/melodic/share/diff_drive_controller
dynamic_reconfigure /opt/ros/melodic/share/dynamic_reconfigure
eigen_conversions /opt/ros/melodic/share/eigen_conversions
filters /opt/ros/melodic/share/filters
find_object_2d /opt/ros/melodic/share/find_object_2d
forward_command_controller /opt/ros/melodic/share/forward_command_controller
gazebo_dev /opt/ros/melodic/share/gazebo_dev
gazebo_msgs /opt/ros/melodic/share/gazebo_msgs
gazebo_plugins /opt/ros/melodic/share/gazebo_plugins
gazebo_ros /opt/ros/melodic/share/gazebo_ros
gazebo_ros_control /opt/ros/melodic/share/gazebo_ros_control
gazebo_video_monitor_msgs /opt/ros/melodic/share/gazebo_video_monitor_msgs
gazebo_video_monitor_plugins /opt/ros/melodic/share/gazebo_video_monitor_plugins
gencpp /opt/ros/melodic/share/gencpp
geneus /opt/ros/melodic/share/geneus
genlisp /opt/ros/melodic/share/genlisp
genmsg /opt/ros/melodic/share/genmsg
gennodejs /opt/ros/melodic/share/gennodejs
genpy /opt/ros/melodic/share/genpy
geographic_msgs /opt/ros/melodic/share/geographic_msgs
geometry_msgs /opt/ros/melodic/share/geometry_msgs
gl_dependency /opt/ros/melodic/share/gl_dependency
hardware_interface /opt/ros/melodic/share/hardware_interface
image_geometry /opt/ros/melodic/share/image_geometry
image_proc /opt/ros/melodic/share/image_proc
image_publisher /opt/ros/melodic/share/image_publisher
image_rotate /opt/ros/melodic/share/image_rotate
image_transport /opt/ros/melodic/share/image_transport
image_view /opt/ros/melodic/share/image_view
interactive_marker_tutorials /opt/ros/melodic/share/interactive_marker_tutorials
interactive_markers /opt/ros/melodic/share/interactive_markers
joint_limits_interface /opt/ros/melodic/share/joint_limits_interface
joint_state_controller /opt/ros/melodic/share/joint_state_controller
joint_state_publisher /opt/ros/melodic/share/joint_state_publisher
kdl_conversions /opt/ros/melodic/share/kdl_conversions
kdl_parser /opt/ros/melodic/share/kdl_parser
kdl_parser_py /opt/ros/melodic/share/kdl_parser_py
kinodynamic_astar /home/maxi/Prometheus/Modules/planning/kinodynamic_astar
laser_assembler /opt/ros/melodic/share/laser_assembler
laser_filters /opt/ros/melodic/share/laser_filters
laser_geometry /opt/ros/melodic/share/laser_geometry
libg2o /opt/ros/melodic/share/libg2o
libmavconn /opt/ros/melodic/share/libmavconn
librviz_tutorial /opt/ros/melodic/share/librviz_tutorial
map_msgs /opt/ros/melodic/share/map_msgs
mavlink /opt/ros/melodic/share/mavlink
mavlink_sitl_gazebo /home/maxi/Firmware_v110/Tools/sitl_gazebo
mavros /opt/ros/melodic/share/mavros
mavros_extras /opt/ros/melodic/share/mavros_extras
mavros_msgs /opt/ros/melodic/share/mavros_msgs
media_export /opt/ros/melodic/share/media_export
message_filters /opt/ros/melodic/share/message_filters
message_generation /opt/ros/melodic/share/message_generation
message_runtime /opt/ros/melodic/share/message_runtime
mk /opt/ros/melodic/share/mk
move_base_msgs /opt/ros/melodic/share/move_base_msgs
nav_msgs /opt/ros/melodic/share/nav_msgs
nodelet /opt/ros/melodic/share/nodelet
nodelet_topic_tools /opt/ros/melodic/share/nodelet_topic_tools
nodelet_tutorial_math /opt/ros/melodic/share/nodelet_tutorial_math
octomap /opt/ros/melodic/share/octomap
octomap_msgs /opt/ros/melodic/share/octomap_msgs
octomap_ros /opt/ros/melodic/share/octomap_ros
octomap_rviz_plugins /opt/ros/melodic/share/octomap_rviz_plugins
octomap_server /opt/ros/melodic/share/octomap_server
orocos_kdl /opt/ros/melodic/share/orocos_kdl
path_searching /home/maxi/Prometheus/Modules/planning/FastPlanner/path_searching
pcl_conversions /opt/ros/melodic/share/pcl_conversions
pcl_msgs /opt/ros/melodic/share/pcl_msgs
pcl_ros /opt/ros/melodic/share/pcl_ros
plan_env /home/maxi/Prometheus/Modules/planning/FastPlanner/plan_env
pluginlib /opt/ros/melodic/share/pluginlib
pluginlib_tutorials /opt/ros/melodic/share/pluginlib_tutorials
polled_camera /opt/ros/melodic/share/polled_camera
position_controllers /opt/ros/melodic/share/position_controllers
prometheus_cmake_utils /home/maxi/Prometheus/Modules/planning/Utils/cmake_utils
prometheus_control /home/maxi/Prometheus/Modules/control
prometheus_detection /home/maxi/Prometheus/Modules/object_detection
prometheus_experiment /home/maxi/Prometheus/Experiment
prometheus_gazebo /home/maxi/Prometheus/Simulator/gazebo_simulator
prometheus_global_planning /home/maxi/Prometheus/Modules/planning/global_planner
prometheus_local_planning /home/maxi/Prometheus/Modules/planning/local_planner
prometheus_map_generator /home/maxi/Prometheus/Modules/planning/planner_simulator/map_generator
prometheus_mission /home/maxi/Prometheus/Modules/mission
prometheus_msgs /home/maxi/Prometheus/Modules/common/msgs
prometheus_plan_manage /home/maxi/Prometheus/Modules/planning/FastPlanner/plan_manage
prometheus_pose_utils /home/maxi/Prometheus/Modules/planning/Utils/pose_utils
prometheus_slam /home/maxi/Prometheus/Modules/slam
prometheus_swarm_planning /home/maxi/Prometheus/Modules/planning/swarm_planning
prometheus_uav_sim /home/maxi/Prometheus/Modules/planning/planner_simulator/uav_sim
px4 /home/maxi/Firmware_v110
python_orocos_kdl /opt/ros/melodic/share/python_orocos_kdl
python_qt_binding /opt/ros/melodic/share/python_qt_binding
qt_dotgraph /opt/ros/melodic/share/qt_dotgraph
qt_gui /opt/ros/melodic/share/qt_gui
qt_gui_cpp /opt/ros/melodic/share/qt_gui_cpp
qt_gui_py_common /opt/ros/melodic/share/qt_gui_py_common
qwt_dependency /opt/ros/melodic/share/qwt_dependency
realsense2_camera /opt/ros/melodic/share/realsense2_camera
realtime_tools /opt/ros/melodic/share/realtime_tools
resource_retriever /opt/ros/melodic/share/resource_retriever
robot_state_publisher /opt/ros/melodic/share/robot_state_publisher
ros_environment /opt/ros/melodic/share/ros_environment
rosbag /opt/ros/melodic/share/rosbag
rosbag_migration_rule /opt/ros/melodic/share/rosbag_migration_rule
rosbag_storage /opt/ros/melodic/share/rosbag_storage
rosbash /opt/ros/melodic/share/rosbash
rosboost_cfg /opt/ros/melodic/share/rosboost_cfg
rosbuild /opt/ros/melodic/share/rosbuild
rosclean /opt/ros/melodic/share/rosclean
rosconsole /opt/ros/melodic/share/rosconsole
rosconsole_bridge /opt/ros/melodic/share/rosconsole_bridge
roscpp /opt/ros/melodic/share/roscpp
roscpp_serialization /opt/ros/melodic/share/roscpp_serialization
roscpp_traits /opt/ros/melodic/share/roscpp_traits
roscpp_tutorials /opt/ros/melodic/share/roscpp_tutorials
roscreate /opt/ros/melodic/share/roscreate
rosgraph /opt/ros/melodic/share/rosgraph
rosgraph_msgs /opt/ros/melodic/share/rosgraph_msgs
roslang /opt/ros/melodic/share/roslang
roslaunch /opt/ros/melodic/share/roslaunch
roslib /opt/ros/melodic/share/roslib
roslint /opt/ros/melodic/share/roslint
roslisp /opt/ros/melodic/share/roslisp
roslz4 /opt/ros/melodic/share/roslz4
rosmake /opt/ros/melodic/share/rosmake
rosmaster /opt/ros/melodic/share/rosmaster
rosmsg /opt/ros/melodic/share/rosmsg
rosnode /opt/ros/melodic/share/rosnode
rosout /opt/ros/melodic/share/rosout
rospack /opt/ros/melodic/share/rospack
rosparam /opt/ros/melodic/share/rosparam
rospy /opt/ros/melodic/share/rospy
rospy_tutorials /opt/ros/melodic/share/rospy_tutorials
rosservice /opt/ros/melodic/share/rosservice
rostest /opt/ros/melodic/share/rostest
rostime /opt/ros/melodic/share/rostime
rostopic /opt/ros/melodic/share/rostopic
rosunit /opt/ros/melodic/share/rosunit
roswtf /opt/ros/melodic/share/roswtf
rqt_action /opt/ros/melodic/share/rqt_action
rqt_bag /opt/ros/melodic/share/rqt_bag
rqt_bag_plugins /opt/ros/melodic/share/rqt_bag_plugins
rqt_console /opt/ros/melodic/share/rqt_console
rqt_dep /opt/ros/melodic/share/rqt_dep
rqt_graph /opt/ros/melodic/share/rqt_graph
rqt_gui /opt/ros/melodic/share/rqt_gui
rqt_gui_cpp /opt/ros/melodic/share/rqt_gui_cpp
rqt_gui_py /opt/ros/melodic/share/rqt_gui_py
rqt_image_view /opt/ros/melodic/share/rqt_image_view
rqt_launch /opt/ros/melodic/share/rqt_launch
rqt_logger_level /opt/ros/melodic/share/rqt_logger_level
rqt_moveit /opt/ros/melodic/share/rqt_moveit
rqt_msg /opt/ros/melodic/share/rqt_msg
rqt_nav_view /opt/ros/melodic/share/rqt_nav_view
rqt_plot /opt/ros/melodic/share/rqt_plot
rqt_pose_view /opt/ros/melodic/share/rqt_pose_view
rqt_publisher /opt/ros/melodic/share/rqt_publisher
rqt_py_common /opt/ros/melodic/share/rqt_py_common
rqt_py_console /opt/ros/melodic/share/rqt_py_console
rqt_reconfigure /opt/ros/melodic/share/rqt_reconfigure
rqt_robot_dashboard /opt/ros/melodic/share/rqt_robot_dashboard
rqt_robot_monitor /opt/ros/melodic/share/rqt_robot_monitor
rqt_robot_steering /opt/ros/melodic/share/rqt_robot_steering
rqt_runtime_monitor /opt/ros/melodic/share/rqt_runtime_monitor
rqt_rviz /opt/ros/melodic/share/rqt_rviz
rqt_service_caller /opt/ros/melodic/share/rqt_service_caller
rqt_shell /opt/ros/melodic/share/rqt_shell
rqt_srv /opt/ros/melodic/share/rqt_srv
rqt_tf_tree /opt/ros/melodic/share/rqt_tf_tree
rqt_top /opt/ros/melodic/share/rqt_top
rqt_topic /opt/ros/melodic/share/rqt_topic
rqt_web /opt/ros/melodic/share/rqt_web
rtabmap /opt/ros/melodic/share/rtabmap
rtabmap_ros /opt/ros/melodic/share/rtabmap_ros
rviz /opt/ros/melodic/share/rviz
rviz_plugin_tutorials /opt/ros/melodic/share/rviz_plugin_tutorials
rviz_plugins /home/maxi/Prometheus/Modules/planning/Utils/rviz_plugins
rviz_python_tutorial /opt/ros/melodic/share/rviz_python_tutorial
self_test /opt/ros/melodic/share/self_test
sensor_msgs /opt/ros/melodic/share/sensor_msgs
shape_msgs /opt/ros/melodic/share/shape_msgs
smach /opt/ros/melodic/share/smach
smach_msgs /opt/ros/melodic/share/smach_msgs
smach_ros /opt/ros/melodic/share/smach_ros
smclib /opt/ros/melodic/share/smclib
stage /opt/ros/melodic/share/stage
stage_ros /opt/ros/melodic/share/stage_ros
std_msgs /opt/ros/melodic/share/std_msgs
std_srvs /opt/ros/melodic/share/std_srvs
stereo_image_proc /opt/ros/melodic/share/stereo_image_proc
stereo_msgs /opt/ros/melodic/share/stereo_msgs
tf /opt/ros/melodic/share/tf
tf2 /opt/ros/melodic/share/tf2
tf2_eigen /opt/ros/melodic/share/tf2_eigen
tf2_geometry_msgs /opt/ros/melodic/share/tf2_geometry_msgs
tf2_kdl /opt/ros/melodic/share/tf2_kdl
tf2_msgs /opt/ros/melodic/share/tf2_msgs
tf2_py /opt/ros/melodic/share/tf2_py
tf2_ros /opt/ros/melodic/share/tf2_ros
tf_conversions /opt/ros/melodic/share/tf_conversions
theora_image_transport /opt/ros/melodic/share/theora_image_transport
topic_tools /opt/ros/melodic/share/topic_tools
traj_utils /home/maxi/Prometheus/Modules/planning/FastPlanner/traj_utils
trajectory_msgs /opt/ros/melodic/share/trajectory_msgs
transmission_interface /opt/ros/melodic/share/transmission_interface
turtle_actionlib /opt/ros/melodic/share/turtle_actionlib
turtle_tf /opt/ros/melodic/share/turtle_tf
turtle_tf2 /opt/ros/melodic/share/turtle_tf2
turtlesim /opt/ros/melodic/share/turtlesim
urdf /opt/ros/melodic/share/urdf
urdf_parser_plugin /opt/ros/melodic/share/urdf_parser_plugin
urdf_sim_tutorial /opt/ros/melodic/share/urdf_sim_tutorial
urdf_tutorial /opt/ros/melodic/share/urdf_tutorial
urdfdom_py /opt/ros/melodic/share/urdfdom_py
uuid_msgs /opt/ros/melodic/share/uuid_msgs
velodyne_gazebo_plugins /opt/ros/melodic/share/velodyne_gazebo_plugins
visualization_marker_tutorials /opt/ros/melodic/share/visualization_marker_tutorials
visualization_msgs /opt/ros/melodic/share/visualization_msgs
voxel_grid /opt/ros/melodic/share/voxel_grid
webkit_dependency /opt/ros/melodic/share/webkit_dependency
xacro /opt/ros/melodic/share/xacro
xmlrpcpp /opt/ros/melodic/share/xmlrpcpp