작성자: 박준규
2023.01.22(일) Happy 설날~
In ROS2, there is no ROS Master (roscore
). The nodes are connected like a P2P network.
Run the turtlesim_node node:
ros2 run turtlesim turtlesim_node
The TurtleSim window will appear:
In a new Terminal window, run turtle_teleop_key
node:
ros2 run turtlesim turtle_teleop_key
You can now command the turtle to move using arrow keys:
Visualizing the Computational Graph using rqt_graph
:
ros2 run rqt_graph rqt_graph
The Graph will appear. We can see that turtlesim
subscriber node subscribes to the publisher node teleop_turtle
publisher node.
Not sure what turtlesim
is publishing with the /turtle1/rotate_absolute/_action/feedback
and /turtle1/rotate_absolute/_action/feedback
topics though.