Team 2: Afifah, Andrew, Heer, Simran

setup (GENERAL)

1. source setup files
2. add sourcing to your shell startup script
3. check environment variables

Using turtlesim, ros2, and rqt

• check installation ros2 pkg executables turtlesim
• start sim ros2 run turtlesim turtlesim_node
• use turtlesim ros2 run turtlesim turtle_teleop_key
• run rqt
• services (use / before): spawn, set_pen
• remapping: ros2 run turtlesim turtle_teleop_key --ros-args --remap turtle1/cmd_vel:=turtle2/cmd_vel

Understanding nodes

• multiple nodes in system
• graph (ex below) = a network of ROS 2 elements processing data together at the same time
• 1 ROS2 executable can contain 1+ nodes

• commands
  • run: ros2 run <package_name> <executable_name>
    • ex: ros2 run turtlesim turtlesim_node
  • ros2 node list in NEW terminal
  • ros2 node info <node_name> node info
  • start teleop node ros2 run turtlesim turtle_teleop_key
  • remapping ros2 run turtlesim turtlesim_node --ros-args --remap __node:=my_turtle