ROS工具roswtf

    roswtf可以对你安装或者运行的ROS系统做如下检查：
1 安装检查

以下命令执行前，请确保roscore未启动。

$ roscd
$ roswtf

如果没有问题将输出如下信息：

Loaded plugin tf.tfwtf

No package or stack in context

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

Static checks summary:

No errors or warnings

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

ROS Master does not appear to be running.

Online graph checks will not be run.

2 运行检查（有ROS节点运行时）

可以先让ros master运行起来（命令roscore）

$ roscd
$ roswtf

将输出如下信息：
Loaded plugin tf.tfwtf

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

WARNING The following node subscriptions are unconnected:

 * /rosout:

   * /rosout

roswtf发出警告说/rosout节点订阅了一个没有节点向其发布的话题。在本例中，这正是所期望看到的，因为除了roscore没有任何其它节点在运行，所以我们可以忽略这些警告。

3 报告错误