ROSWTF
详细见http://wiki.ros.org/roswtf
roswtf will examine your ROS setup, such as your environment variables, and look for configuration issues. If you have a ROS system online, it will look at it and check for any potential issues.
检查环境变量,配置问题,系统潜在问题等.
$ roscd rosmaster
$ roswtf
输出如下:
Package: rosmaster //说明roswtf是在rosmaster包目录下启动的
================================================================================
Static checks summary: //this is a report on any filesystem or any non-runtime (i.e. no roscore required to run) issues.
No errors or warnings
================================================================================
ROS Master does not appear to be running.
Online graph checks will not be run.
ROS_MASTER_URI is [http://localhost:11311]
测试在线系统（roscore先启动）
$ roscd
$ roswtf
//没在任何一个package目录内启动roswtf
No package or stack in context
======================================================
Static checks summary:
No errors or warnings
======================================================
Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
... done running graph rules
Online checks summary:
Found 1 warning(s).
Warnings are things that may be just fine, but are sometimes at fault
//roswtf is warning you that the rosout node is subscribed to a topic that no one is publishing to.
WARNING The following node subscriptions are unconnected:
* /rosout:
* /rosout
Errors
$ roscd
$ ROS_PACKAGE_PATH=bad:$ROS_PACKAGE_PATH roswtf
输出如下：
Stack: ros
======================================================
Static checks summary:
Found 1 error(s).
ERROR Not all paths in ROS_PACKAGE_PATH [bad] point to an existing directory:
* bad
======================================================
Cannot communicate with master, ignoring graph checks