How To Run Turtlesim ===================== 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 ------------------ 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 ---- Quick Tip: Whenever you try to tab-complete (for example rosrun turtle), and it doesn't show what you want it to, you should source setup.bash again. ---- 2. Run TurtleSim ---------------- 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