{"id":59,"date":"2024-04-04T08:01:26","date_gmt":"2024-04-04T05:01:26","guid":{"rendered":"https:\/\/sisu.ut.ee\/rosak\/rubriigid-ja-sonumid\/"},"modified":"2024-04-04T08:03:56","modified_gmt":"2024-04-04T05:03:56","slug":"rubriigid-ja-sonumid","status":"publish","type":"page","link":"https:\/\/sisu.ut.ee\/rosak\/rubriigid-ja-sonumid\/","title":{"rendered":"7. Rubriigid ja s\u00f5numid"},"content":{"rendered":"<blockquote>\n<p>\n\t\t<strong>Selles harjutuses tutvud ROSi s\u00f5lmede, rubriikide ja s\u00f5numitega. \u00d5pid nende k\u00e4surealt uurimiseks kasutama ROSi t\u00f6\u00f6riistu.<\/strong>\n\t<\/p>\n<p>\n\t\tHarjutuse sooritamiseks on vaja Ubuntu ja ROSiga arvutit, kuhu on paigaldatud kimbud <span style=\"font-family:Courier New,Courier,monospace\">teleop_twist_keyboard<\/span>, <span style=\"font-family:Courier New,Courier,monospace\">robotont_description<\/span>, <span style=\"font-family:Courier New,Courier,monospace\">robotont_driver<\/span> ja <span style=\"font-family:Courier New,Courier,monospace\">robotont_msgs<\/span>. Kui kasutad kursuse korraldajate poolt pakutud s\u00fcsteemi, siis on need kimbud juba paigaldatud.\n\t<\/p>\n<p>\n\t\t<strong>Harjutus ei ole m\u00f5eldud l\u00e4bimiseks f\u00fc\u00fcsilise robotiga.<\/strong>\n\t<\/p>\n<p>\n\t\t<em><span>Samm-sammulise juhendi vaatamiseks klikka harjutuse vahepealkirjadele.<\/span><\/em>\n\t<\/p>\n<\/blockquote>\n<p>\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69d4666e1750f-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69d4666e1750f-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69d4666e1750f-collapse\"><strong>1. K\u00e4ivita digikaksik<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69d4666e1750f-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69d4666e1750f-heading\">\n            <div class=\"accordion-body\">Alustuseks on selles harjutuses hea m\u00f5te k\u00e4ivitada roscore eraldi:\n\n<pre>roscore<\/pre>\n<p>\n\tN\u00fc\u00fcd k\u00e4ivita uues aknas robotondi digikaksik k\u00e4suga\n<\/p>\n<pre>roslaunch robotont_driver fake_driver.launch<\/pre>\n<p>\n\tJ\u00e4ta need k\u00e4sklused nendes kahes terminaliaknas jooksma (<strong>\u00e4ra sulge neid Ctrl+C abiga<\/strong>) ja v\u00f5ta vajadusel uute k\u00e4skude jaoks lahti veel uusi terminaliaknaid.\n<\/p>\n<p>\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\n\n<p>\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69d4666e17516-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69d4666e17516-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69d4666e17516-collapse\"><strong>2. Mis on ROSi s\u00f5lmed?<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69d4666e17516-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69d4666e17516-heading\">\n            <div class=\"accordion-body\">ROSi <strong>s\u00f5lmed<\/strong> (ingl k. <em>node<\/em>) on protsessid, mis teevad ROSi s\u00fcsteemis arvutusi. Tavaliselt toimetavad s\u00f5lmed paralleelselt ja saadavad \u00fcksteisele info vahetamiseks s\u00f5numeid.\n\n<p>\n\tK\u00f5iki aktiivseid ROSi s\u00f5lmi on v\u00f5imalik n\u00e4ha k\u00e4suga\n<\/p>\n<pre><span style=\"font-family:Courier New,Courier,monospace\">rosnode list<\/span><\/pre>\n<p>\n\tK\u00e4sk <span style=\"font-family:Courier New,Courier,monospace\">rosnode info &lt;s\u00f5lme_nimi&gt;<\/span> n\u00e4itab infot konkreetse s\u00f5lme kohta.\n<\/p>\n<p>\n\tVaata ka ise l\u00e4hemalt \u00fche s\u00f5lme sisu. Selleks kirjuta k\u00e4sureale n\u00e4iteks\n<\/p>\n<pre><span style=\"font-family:Courier New,Courier,monospace\">rosnode info \/fake_driver_node<\/span><\/pre>\n<p>\n\tPeaksid n\u00e4gema vaadet, mis sarnaneb allolevale pildile:\n<\/p>\n<p>\n\t[[{\u201cfid\u201d:72994,\u201dview_mode\u201d:\u201ddefault\u201d,\u201dtype\u201d:\u201dmedia\u201d,\u201dattributes\u201d:{\u201cheight\u201d:\u201d458\u2033,\u201dwidth\u201d:\u201d690\u2033,\u201dalt\u201d:\u201dK\u00e4su \u201crosnode info \/fake_driver_node\u201d v\u00e4ljund\u201d,\u201dclass\u201d:\u201dmedia-element file-default\u201d}}]]\n<\/p>\n<p>\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\n\n<p>\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69d4666e1751d-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69d4666e1751d-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69d4666e1751d-collapse\"><strong>3. Mis on ROSi rubriigid?<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69d4666e1751d-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69d4666e1751d-heading\">\n            <div class=\"accordion-body\">ROSi <strong>rubriigid (ingl k. <em>topic<\/em>)<\/strong> on nimelised suhtluskanalid, mille kaudu saavad s\u00f5lmed omavahel s\u00f5numeid vahetada.\n\n<p>\n\tROSi s\u00f5lmed saavad rubriike kasutada kahel viisil: nad v\u00f5ivad sinna s\u00f5numeid <strong>kuulutada (ingl k. <em>publish<\/em>)<\/strong> v\u00f5i sealt s\u00f5numeid <strong>tellida (ingl k. <em>subscribe<\/em>)<\/strong>.\n<\/p>\n<p>\n\tRubriigis <strong>kuulutamine<\/strong> t\u00e4hendab, et s\u00f5lm <strong>saadab selles rubriigis s\u00f5numeid v\u00e4lja<\/strong> eesm\u00e4rgiga anda infot teistele s\u00f5lmedele. S\u00f5lm, mis s\u00f5numeid kuulutab, on <strong>kuulutaja (ingl k. <em>publisher<\/em>)<\/strong>.\n<\/p>\n<p>\n\tRubriigist <strong>tellimine<\/strong> t\u00e4hendab, et s\u00f5lm <strong>kuulab, kas rubriigis on sissetulevaid s\u00f5numeid<\/strong>, mida on selles rubriigis kuulutanud m\u00f5ni teine s\u00f5lm. S\u00f5lm, mis tellib s\u00f5numeid, on <strong>tellija (ingl k. <em>subscriber<\/em>)<\/strong>.\n<\/p>\n<p>\n\t<img loading=\"lazy\" decoding=\"async\" width=\"1380\" height=\"250\" class=\"alignnone wp-image-145\" style=\"width: 820px;height: 149px\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/screenshot_from_2021-02-13_13-34-03_275c766fdc5acbedf7f4c97b47f9e99c.png\" title=\"screenshot_from_2021-02-13_13-34-03_275c766fdc5acbedf7f4c97b47f9e99c.png\" alt=\".\" srcset=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/screenshot_from_2021-02-13_13-34-03_275c766fdc5acbedf7f4c97b47f9e99c.png 1380w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/screenshot_from_2021-02-13_13-34-03_275c766fdc5acbedf7f4c97b47f9e99c-300x54.png 300w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/screenshot_from_2021-02-13_13-34-03_275c766fdc5acbedf7f4c97b47f9e99c-1024x186.png 1024w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/screenshot_from_2021-02-13_13-34-03_275c766fdc5acbedf7f4c97b47f9e99c-768x139.png 768w\" sizes=\"auto, (max-width: 1380px) 100vw, 1380px\">\n<\/p>\n<p>\n\t\u00a0\n<\/p>\n<p>\n\tSellel joonisel on s\u00f5lmed t\u00e4histatud ellipsitena ja rubriigid nendevaheliste nooltena. S\u00f5lmest v\u00e4ljuv nool n\u00e4itab, et s\u00f5lm kuulutab rubriigis s\u00f5numeid. S\u00f5lme sissetulev nool n\u00e4itab, et s\u00f5lm tellib rubriigist s\u00f5numeid. Jooniselt on n\u00e4ha, et <span style=\"font-family:Courier New,Courier,monospace\">teleop_twist_keyboard<\/span> s\u00f5lm kuulutab s\u00f5numeid <span style=\"font-family:Courier New,Courier,monospace\">cmd_vel<\/span> rubriiki ja <span style=\"font-family:Courier New,Courier,monospace\">fake_driver_node<\/span> tellib s\u00f5numeid samalt rubriigist.\n<\/p>\n<p>\n\tS\u00f5lm v\u00f5ib samaaegselt olla ka nii kuulutaja kui tellija, tavaliselt k\u00fcll erinevate rubriikide suhtes. S\u00f5lm v\u00f5ib ka kuulutada s\u00f5numeid mitmes rubriigis v\u00f5i tellida s\u00f5numeid mitmest rubriigist.\n<\/p>\n<p>\n\tSamas rubriigis v\u00f5ib s\u00f5numeid kuulutada mitu s\u00f5lme, samuti v\u00f5ib korraga mitu s\u00f5lme samast rubriigist s\u00f5numeid tellida. On ka v\u00f5imalik, et ROSi rubriik eksisteerib nii, et \u00fckski s\u00f5lm sinna s\u00f5numeid ei kuuluta v\u00f5i ei telli sealt s\u00f5numeid.\n<\/p>\n<p>\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\n\n<p>\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69d4666e17521-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69d4666e17521-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69d4666e17521-collapse\"><strong>4. Rubriikide uurimine, 1. osa<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69d4666e17521-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69d4666e17521-heading\">\n            <div class=\"accordion-body\">K\u00e4ivita k\u00e4sk, mis v\u00e4ljastab nimekirja k\u00f5igist aktiivsetest ROSi rubriikidest:\n\n<pre>rostopic list<\/pre>\n<p>\n\tPeaksid n\u00e4gema rubriiki nimega <span style=\"font-family:Courier New,Courier,monospace\">cmd_vel<\/span>. Selles rubriigis liiguvad s\u00f5numid roboti liikumise kohta. Uurime l\u00e4hemalt. Sisesta k\u00e4sk\n<\/p>\n<pre>rostopic info \/cmd_vel<\/pre>\n<p>\n\tPeaksid n\u00e4gema umbes sellist vaadet:\n<\/p>\n<p>\n\t<img loading=\"lazy\" decoding=\"async\" width=\"1586\" height=\"1054\" class=\"alignnone wp-image-146\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/screenshot_from_2021-02-13_13-35-12_4ac515d38b9e48776f1467b2b472c2f6.png\" title=\"screenshot_from_2021-02-13_13-35-12_4ac515d38b9e48776f1467b2b472c2f6.png\" alt=\".\" srcset=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/screenshot_from_2021-02-13_13-35-12_4ac515d38b9e48776f1467b2b472c2f6.png 1586w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/screenshot_from_2021-02-13_13-35-12_4ac515d38b9e48776f1467b2b472c2f6-300x199.png 300w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/screenshot_from_2021-02-13_13-35-12_4ac515d38b9e48776f1467b2b472c2f6-1024x681.png 1024w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/screenshot_from_2021-02-13_13-35-12_4ac515d38b9e48776f1467b2b472c2f6-768x510.png 768w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/screenshot_from_2021-02-13_13-35-12_4ac515d38b9e48776f1467b2b472c2f6-1536x1021.png 1536w\" sizes=\"auto, (max-width: 1586px) 100vw, 1586px\">\n<\/p>\n<p>\n\tIlmselt n\u00e4ed, et \u00fckski s\u00f5lm praegu selles rubriigis s\u00f5numeid ei kuuluta, aga \u00fcks s\u00f5lm (t\u00e4psemini <span style=\"font-family:Courier New,Courier,monospace\">fake_driver_node<\/span>) tellib <span style=\"font-family:Courier New,Courier,monospace\">cmd_vel<\/span> rubriigist s\u00f5numeid. See on ka loogiline, sest k\u00e4ivitasime enne roboti digikaksiku, aga ei ole veel kuulutanud s\u00f5numeid, mis \u00fctleksid sellele, kuidas liikuda.\n<\/p>\n<p>\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\n\n<p>\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69d4666e17526-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69d4666e17526-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69d4666e17526-collapse\"><strong>5. Rubriikide uurimine, 2. osa<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69d4666e17526-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69d4666e17526-heading\">\n            <div class=\"accordion-body\">K\u00e4ivitame s\u00f5lme, mis oskab saata robotitele liikumisk\u00e4ske:\n\n<pre>rosrun teleop_twist_keyboard teleop_twist_keyboard.py<\/pre>\n<p>\n\tSaame uues terminaliaknas kasutada <span style=\"font-family:Courier New,Courier,monospace\">rosnode info<\/span> k\u00e4sku, et uurida, mis rubriikidega see uus s\u00f5lm suhtleb: <span style=\"font-family:Courier New,Courier,monospace\">rosnode info \/teleop_twist_keyboard<\/span>.\n<\/p>\n<p>\n\t<img loading=\"lazy\" decoding=\"async\" width=\"1524\" height=\"224\" class=\"alignnone wp-image-147\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/screenshot_from_2021-02-13_13-37-54_b7e62393f9b78de644c95c432b375d25.png\" title=\"screenshot_from_2021-02-13_13-37-54_b7e62393f9b78de644c95c432b375d25.png\" alt=\".\" srcset=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/screenshot_from_2021-02-13_13-37-54_b7e62393f9b78de644c95c432b375d25.png 1524w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/screenshot_from_2021-02-13_13-37-54_b7e62393f9b78de644c95c432b375d25-300x44.png 300w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/screenshot_from_2021-02-13_13-37-54_b7e62393f9b78de644c95c432b375d25-1024x151.png 1024w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/screenshot_from_2021-02-13_13-37-54_b7e62393f9b78de644c95c432b375d25-768x113.png 768w\" sizes=\"auto, (max-width: 1524px) 100vw, 1524px\">\n<\/p>\n<p>\n\tN\u00e4eme, et meie k\u00e4ivitatud s\u00f5lm kuulutab s\u00f5numeid selles samas rubriigis, millelt <span style=\"font-family:Courier New,Courier,monospace\">fake_driver_node<\/span> s\u00f5numeid tellib: <span style=\"font-family:Courier New,Courier,monospace\">cmd_vel<\/span> rubriigis. See t\u00e4hendab, et n\u00fc\u00fcd saame me roboti digikaksikule s\u00f5numeid saata.\n<\/p>\n<p>\n\tJ\u00e4rgi juhiseid, mis on kuvatud terminaliaknas, kus k\u00e4ivitasid <span style=\"font-family:Courier New,Courier,monospace\">teleop_twist_keyboard<\/span> s\u00f5lme. Kui see aken on aktiivne ja vajutad klaviatuuril \u00f5igeid klahve, n\u00e4ed RVizi aknas robotit liikumas.\n<\/p>\n<blockquote style=\"os-kollane\">\n<p>\n\t\tKui robot peaks RVizi aknas \u00e4ra kaduma, v\u00f5ib tema otsimisest lihtsam olla <span style=\"font-family:Courier New,Courier,monospace\">fake_driver<\/span> uuesti k\u00e4ivitada (vt sammu 1).\n\t<\/p>\n<\/blockquote>\n<p>\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\n\n<p>\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69d4666e1752a-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69d4666e1752a-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69d4666e1752a-collapse\"><strong>6. Millised on ROSi s\u00f5numid?<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69d4666e1752a-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69d4666e1752a-heading\">\n            <div class=\"accordion-body\">ROSi s\u00f5numid on andmestruktuurid, mis sisaldavad informatsiooni. S\u00f5numid on need andmed, mida s\u00f5lmed \u00fcksteisele saadavad.\n\n<p>\n\tIgal ROSi s\u00f5numil on kindel t\u00fc\u00fcp. N\u00e4gemaks, mis t\u00fc\u00fcpi s\u00f5numeid igas rubriigis vahetatakse, saab kasutada t\u00f6\u00f6riistu <span style=\"font-family:Courier New,Courier,monospace\">rostopic type<\/span> ja <span style=\"font-family:Courier New,Courier,monospace\">rostopic info<\/span>. N\u00e4iteks <span style=\"font-family:Courier New,Courier,monospace\">cmd_vel<\/span> rubriigis vahetatakse tihti kasutatavaid <span style=\"font-family:Courier New,Courier,monospace\">geometry_msgs\/Twist<\/span> t\u00fc\u00fcpi s\u00f5numeid.\n<\/p>\n<p>\n\tL\u00e4hme s\u00fcgavamale ja uurime, milline n\u00e4eb v\u00e4lja <span style=\"font-family:Courier New,Courier,monospace\">geometry_msgs\/Twist<\/span> t\u00fc\u00fcpi s\u00f5num. Selleks kasutame <span style=\"font-family:Courier New,Courier,monospace\">rosmsg<\/span> t\u00f6\u00f6riista. Sisesta k\u00e4sk:\n<\/p>\n<pre>rosmsg info geometry_msgs\/Twist<\/pre>\n<p>\n\tUuri k\u00e4su v\u00e4ljundit.\n<\/p>\n<p>\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\n\n<p>\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69d4666e1752d-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69d4666e1752d-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69d4666e1752d-collapse\"><strong>7. Kuidas n\u00e4ha s\u00f5numeid reaalajas?<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69d4666e1752d-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69d4666e1752d-heading\">\n            <div class=\"accordion-body\">Vahel on kasulik s\u00f5lmedevahelist suhtlust pealt kuulata. Leidub k\u00e4sk, mis laseb meil k\u00e4sureal n\u00e4ha k\u00f5iki s\u00f5numeid, mis suvalises rubriigis kuulutatakse.\n\n<p>\n\tVaata n\u00e4iteks <span style=\"font-family:Courier New,Courier,monospace\">cmd_vel<\/span> rubriigis kuulutatavaid s\u00f5numeid, kui samaaegselt juhid simuleeritud robotit klahvivajutustega <span style=\"font-family:Courier New,Courier,monospace\">teleop_twist_keyboard<\/span> s\u00f5lme kaudu. Sisesta uues aknas k\u00e4sk:\n<\/p>\n<pre>rostopic echo \/cmd_vel<\/pre>\n<p>\n\tVajuta \u00f5iges aknas erinevaid klahve roboti liigutamiseks ja j\u00e4lgi, kuidas s\u00f5numid muutuvad. Samal ajal vaata, mis toimub RVizi aknas.\n<\/p>\n<p>\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\n\n<p>\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69d4666e17530-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69d4666e17530-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69d4666e17530-collapse\"><strong>8. Lisainfo t\u00f6\u00f6riistade kohta<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69d4666e17530-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69d4666e17530-heading\">\n            <div class=\"accordion-body\">T\u00f6\u00f6riistad <a data-url=\"http:\/\/wiki.ros.org\/rosnode\" href=\"http:\/\/wiki.ros.org\/rosnode\" target=\"_blank\" title=\"\" rel=\"noopener\">rosnode<\/a>, <a data-url=\"http:\/\/wiki.ros.org\/rostopic\" href=\"http:\/\/wiki.ros.org\/rostopic\" target=\"_blank\" title=\"\" rel=\"noopener\">rostopic<\/a> ja <a data-url=\"http:\/\/wiki.ros.org\/rosmsg\" href=\"http:\/\/wiki.ros.org\/rosmsg\" target=\"_blank\" title=\"\" rel=\"noopener\">rosmsg<\/a> on kasulikud vigade leidmise ja t\u00e4iendava info saamise t\u00f6\u00f6riistad ROSis. Neil on veel palju v\u00f5imalusi, millega saad tutvuda nende abitekstide kaudu. Abitekstide n\u00e4gemiseks sisesta k\u00e4sureal\n\n<pre>rosnode -h\r\nrostopic -h\r\nrosmsg -h<\/pre>\n<p>\n\tKui soovid, v\u00f5id uurida ka k\u00e4sureat\u00f6\u00f6riista <a data-url=\"http:\/\/wiki.ros.org\/roswtf\" href=\"http:\/\/wiki.ros.org\/roswtf\" target=\"_blank\" title=\"\" rel=\"noopener\">roswtf<\/a>.\n<\/p>\n<p>\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\n","protected":false},"excerpt":{"rendered":"<p>Selles harjutuses tutvud ROSi s\u00f5lmede, rubriikide ja s\u00f5numitega. \u00d5pid nende k\u00e4surealt uurimiseks kasutama ROSi t\u00f6\u00f6riistu. Harjutuse sooritamiseks on vaja Ubuntu ja ROSiga arvutit, kuhu on paigaldatud kimbud teleop_twist_keyboard, robotont_description, robotont_driver ja robotont_msgs. Kui kasutad kursuse korraldajate poolt pakutud s\u00fcsteemi, siis &#8230;<\/p>\n","protected":false},"author":98,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_acf_changed":false,"inline_featured_image":false,"footnotes":""},"class_list":["post-59","page","type-page","status-publish","hentry"],"acf":[],"_links":{"self":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/59","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/users\/98"}],"replies":[{"embeddable":true,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/comments?post=59"}],"version-history":[{"count":1,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/59\/revisions"}],"predecessor-version":[{"id":342,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/59\/revisions\/342"}],"wp:attachment":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/media?parent=59"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}