Hood NUC ROS2 Dashing Turtlesim and rqt 202003

References

• Introducing turtlesim and rqt

Installation turtlesim

 $ sudo apt install ros-dashing-turtlesim

 $ros2 pkg executables turtlesim
     turtlesim draw_square
     turtlesim mimic
     turtlesim turtle_teleop_key
     turtlesim turtlesim_node

Start turtlesim

TERMINAL 1

 $ ros2 run turtlesim turtlesim_node
     [INFO] [turtlesim]: Starting turtlesim with node name /turtlesim
     [INFO] [turtlesim]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000]

Use turtlesim

TERMINAL 2

 $ ros2 run turtlesim turtle_teleop_key
     Reading from keyboard
     ---------------------------
     Use arrow keys to move the turtle.
     Use G|B|V|C|D|E|R|T keys to rotate to absolute orientations. 'F' to cancel a rotation.
     'Q' to quit.

Note: Focus on this terminal. Use the arrow keys - not the letter keys G,B,V etc.

TERMINAL 3

 $ ros2 node list
     /turtlesim
     /teleop_turtle

 $ ros2 topic list
     /parameter_events
     /rosout
     /turtle1/cmd_vel
     /turtle1/color_sensor
     /turtle1/pose

 $ ros2 service list
     /clear
     /kill
     /reset
     /spawn
     /teleop_turtle/describe_parameters
     /teleop_turtle/get_parameter_types
     /teleop_turtle/get_parameters
     /teleop_turtle/list_parameters
     /teleop_turtle/set_parameters
     /teleop_turtle/set_parameters_atomically
     /turtle1/set_pen
     /turtle1/teleport_absolute
     /turtle1/teleport_relative
     /turtlesim/describe_parameters
     /turtlesim/get_parameter_types
     /turtlesim/get_parameters
     /turtlesim/list_parameters
     /turtlesim/set_parameters
     /turtlesim/set_parameters_atomically

 $ ros2 action list
     /turtle1/rotate_absolute

 $ ros2 param list
     /teleop_turtle:
       scale_angular
       scale_linear
       use_sim_time
     /turtlesim:
       background_b
       background_g
       background_r
       use_sim_time

Install rqt

• Already done.

TERMINAL 3

 $ rqt

Use rqt

Bring display to initial tutorial stat

• Menu "Pluggins" -> Item "Services" -> Select "Service Caller"

Try to Spawn a Service

• Press Refresh circle arrow next to "Service"
• Dropdown list next to right of Service select "spawn"

Playing Around

I also played with

• Menu Pluggins" -> Item "Topics" -> Select "Topic Monitor"

logs

Hood NUC ROS2 Turtlesim and rqt 202003 Notes and log