ROS Cheat Sheet

Shell Commands

# bringup command (on the robot itself)
$ roslaunch turtlebot3_bringup turtlebot3_robot.launch
# run teleop application
$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
# rostopic command to send cmd_vel to robot
$ rostopic pub /cmd_vel geometry_msgs/Twist "linear:
  x: 0.0
  y: 0.0
  z: 0.0
  x: 0.0
  y: 0.0
  z: 0.0"

ROS Shell utilities

  • roscore: Start the ROS Core program
  • rostopic: Work with topics
    • rostopic list: list all ros topics that roscore knows about
    • rostopic echo: print out any topics that are published
    • rostopic info: ask ros what it knows about a certain topic
  • rqt_graph - display topics and subscriptions in a nice graphical format
  • roslaunch - tool to launch collections of ROS nodes in one command. Requires a ‘package launch file’
  • rosversion -d - what ros version is installed?


  • Linux: Use Ubuntu 16.04 exactly
  • ROS Install for Turtlebot3: Follow the installation instructions for the TurtleBot3 exactly
  • roscore: You must have roscore running before you try to run any ros-related program
  • Execution: In order to execute a program/script on Linux, you must chmod +x
  • shebang: Also include the ‘shebang’: #!/usr/bin/env python

Linux Commands

  • apt family of commands, see:


If you get an error message that Ubuntu is running Lo-res mode or ubuntu just stalls during bootup, then:

  • Ctrl-Alt F1 # get to terminal
  • sudo apt-get update # update the apt-get app itself
  • sudo apt-get upgrade # upgrade packages
  • sudo apt-get install -f # apt-get fix its database
  • restart


$ roslaunch turtlebot3_gazebo turtlebot3_stage_4.launch
$ roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=stage4
$ roslaunch turtlebot3_gazebo turtlebot3_simulation.launch
$ roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping
$ rosbag record rosbag record -O stage4.bag /scan /tf /odom
$ rosbag info stage4.bag
$ rosparam set use_sim_time true
$ rosbag play --clock stage4.bag
$ rosrun map_server map_saver -f stage4
$ rosrun map_server map_server stage4.yaml
$ roslaunch turtlebot3_gazebo turtlebot3_simulation.launch