Turtlesim

ROS

• Eco System - Turtlesim

mmabas77@mmabas77-ROS:~$ roscore

• rosout logging node
• ROS Parameter Server
• ROS Master
• roscore will start up:
• Roscore is a collection of nodes and programs that are pre-requisites of a ROS-based system. You must have a roscore running in order for ROS nodes to communicate. It is launched using the roscore command.
• The ROS master coordinates the communication between the different ROS nodes (processes). Each ROS node registers with the ROS master at start-up. The ROS master can/should be started via the command.
• The roscore command starts ROS and creates the Master so that ROS nodes can communicate.

mmabas77@mmabas77-ROS:~$ rosrun turtlesim turtlesim_node

• mmabas77@mmabas77-ROS:~$ rosservice call /turtle1/teleport_relative 1 0
• mmabas77@mmabas77-ROS:~$ rosservice call /turtle1/teleport_absolute 1 1 0
• mmabas77@mmabas77-ROS:~$ rosnode info /turtlesim
• mmabas77@mmabas77-ROS:~$ rosnode list
• The node creates the screen image and the turtle.

mmabas77@mmabas77-ROS:~$ rosrun turtlesim turtle_teleop_key

• mmabas77@mmabas77-ROS:~$ rostopic echo /turtle1/pose
• mmabas77@mmabas77-ROS:~$ rostopic list
• mmabas77@mmabas77-ROS:~$ rqt_graph

Thanks

• Eco System - Turtlesim