添加部分6.6

docs/chapt6/6.5Gazebo介绍.md

@@ -87,10 +87,10 @@ ros2 topic pub /demo/cmd_demo geometry_msgs/msg/Twist "{linear: {x: 0.2,y: 0,z:
 然后就可以看到小车动了起来。
 
 ![动起来](6.5Gazebo介绍/imgs/watermark,type_ZHJvaWRzYW5zZmFsbGJhY2s,shadow_50,text_Q1NETiBA6bG86aaZUk9T,size_20,color_FFFFFF,t_70,g_se,x_16.png)
+
 ## 4.总结
-文末不说废话，把今天的文章重点总结下：
 
 - RVIZ2是用来可视化数据的软件，核心要义是将数据展示出来（我们不生产数据只做数据的搬运工）
-- Gazebo是用于模拟真实环境生产数据的（我们不搬运数据只做数据的生产者
+- Gazebo是用于模拟真实环境生产数据的（我们不搬运数据只做数据的生产者)
 - Gazebo是独立于ROS/ROS2的软件（还有很多仿真软件可以用ROS/ROS2）
 - ROS2和Gazebo之间的桥梁是：gazebo_ros_pkgs

docs/chapt6/6.6ROS2命令行工具.md

@@ -1,4 +1,41 @@
-6.5ROS2常用指令
+6.5 ROS2命令行工具
+
+本节我们来对ROS2的命令行工具进行一个小结。打开终端，输入ros2，你将看到下面的内容：
+
+
+```
+usage: ros2 [-h] Call `ros2 <command> -h` for more detailed usage. ...
+
+ros2 is an extensible command-line tool for ROS 2.
+
+optional arguments:
+  -h, --help            show this help message and exit
+
+Commands:
+  action     Various action related sub-commands
+  bag        Various rosbag related sub-commands
+  component  Various component related sub-commands
+  daemon     Various daemon related sub-commands
+  doctor     Check ROS setup and other potential issues
+  interface  Show information about ROS interfaces
+  launch     Run a launch file
+  lifecycle  Various lifecycle related sub-commands
+  multicast  Various multicast related sub-commands
+  node       Various node related sub-commands
+  param      Various param related sub-commands
+  pkg        Various package related sub-commands
+  run        Run a package specific executable
+  security   Various security related sub-commands
+  service    Various service related sub-commands
+  topic      Various topic related sub-commands
+  wtf        Use `wtf` as alias to `doctor`
+
+  Call `ros2 <command> -h` for more detailed usage.
+```
+
+每一个Command都是对应着ROS2目前所拥有的工具
+
+
 
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