작성자: 박준규

2023.01.22(일) Happy 설날~

In ROS2, there is no ROS Master (roscore). The nodes are connected like a P2P network.

  1. Run the turtlesim_node node:

    ros2 run turtlesim turtlesim_node

    The TurtleSim window will appear:

    Untitled

  2. 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:

    Untitled

  3. Visualizing the Computational Graph using rqt_graph:

    ros2 run rqt_graph rqt_graph

    Untitled

    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.