RoboBuggy

How To Run Turtlesim

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Prereqs: HowToInstall

In this tutorial, you're going to build and play with a fresh cut of

turtlesim. You will become familiar with ROS, and with a framework like 

buggysim's. 

1. Build TurtleSim

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   Run:

    cd ~/buggyworkspace

    catkin_make

    # We have now build the binaries; we will now overlay these on our 

    #   workspace. 

    cd ~/buggyworkspace/devel    

    source setup.bash

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Quick Tip: Whenever you try to tab-complete (for example rosrun turtle<TAB>), and it doesn't show what you want it to, you should source setup.bash again.

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2. Run TurtleSim

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We will now run turtlesim. This is, once again, a paraphrasing of the 

turtlesim tutorial, that can be found at http://wiki.ros.org/ROS/Tutorials/UnderstandingTopics . 

  Run:

   # Make sure you ran /deve/setup.bash, so the right binaries are run. 

   # Start up the core service

   roscore

   # Start up the rostopic viewer. 

   # This will let you watch as the new nodes come online, and you can see

   #   what topics and services they offer. 

   rqt_graph

   #   (i recommend unhiding all topics, to get a better view)

   # In a new terminal

   # This command will start 

   rosrun turtlesim_ref turtlesim_node

   # Run some commands to investigate

   rosnode list

   rosnode info /rosout

   # Read from a running topic

   rostopic hz /turtle1/pose # see update freq.

   rostopic bw /turtle1/pose # see bandwidth

   rostopic echo /turtle1/pose