Hood NUC ROS2 Turtlesim and rqt 202003 Notes and log

turtlesim20200321.txt

3/21/20

https://index.ros.org/doc/ros2/Tutorials/Turtlesim/Introducing-Turtlesim/#turtlesim

Introducing turtlesim and rqt

eepp@hood:launch$ sudo apt install ros-dashing-turtlesim
[sudo] password for eepp: 
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following NEW packages will be installed:
  ros-dashing-turtlesim
0 upgraded, 1 newly installed, 0 to remove and 238 not upgraded.
Need to get 1,509 kB of archives.
After this operation, 20.5 MB of additional disk space will be used.
Get:1 http://packages.ros.org/ros2/ubuntu bionic/main amd64 ros-dashing-turtlesim amd64 1.0.1-1bionic.20200318.041354 [1,509 kB]
Fetched 1,509 kB in 2s (661 kB/s)                  
Selecting previously unselected package ros-dashing-turtlesim.
(Reading database ... 260724 files and directories currently installed.)
Preparing to unpack .../ros-dashing-turtlesim_1.0.1-1bionic.20200318.041354_amd64.deb ...
Unpacking ros-dashing-turtlesim (1.0.1-1bionic.20200318.041354) ...
Setting up ros-dashing-turtlesim (1.0.1-1bionic.20200318.041354) ...
Processing triggers for libc-bin (2.27-3ubuntu1) ...
eepp@hood:launch$ 


-----------------

https://index.ros.org/doc/ros2/Tutorials/Parameters/Understanding-ROS2-Parameters/


terminal 1
eepp@hood:~$ 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]



terminal 2
eepp@hood:~$ 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.



terminal 3
eepp@hood:launch$ ros2 param list
/teleop_turtle:
  scale_angular
  scale_linear
  use_sim_time
/turtlesim:
  background_b
  background_g
  background_r
  use_sim_time

------------------------------

4/8/20

eepp@hood:~$ ros2 node list
/turtlesim
/teleop_turtle
/joy_node
eepp@hood:~$ ros2 topic list
/parameter_events
/rosout
/turtle1/cmd_vel
/turtle1/color_sensor
/turtle1/pose
eepp@hood:~$ 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
eepp@hood:~$ ros2 action list
/turtle1/rotate_absolute
eepp@hood:~$ 


rqt

To match turorial diagram
menu Pluggins -> item Services -> Service Caller

I also played with
menu Pluggins -> item Topics -> Topic Monitor


refresh circle arrow next to "Service"

dropdown list next to right of Service
  select spawn