Turtlesim Demo in ROS 2 (Jazzy)

This demo provides an introduction to using the turtlesim package in ROS 2 (Jazzy distro). Turtlesim is a simple graphical simulator that demonstrates basic ROS 2 concepts like publishing, subscribing, and service calls.

Table of Contents

1. Prerequisites
2. Setup Instructions
   • Step 1: Source the ROS 2 Jazzy Environment
   • Step 2: Start the ROS 2 Turtlesim Node
   • Step 3: Move the Turtle Using Teleop
3. Conclusion

Prerequisites

Ensure you have the following installed:

• ROS 2 Jazzy (Jazzy distro)
• A terminal application
• Install Turtlesim

sudo apt update

sudo apt install ros-jazzy-turtlesim

Setup Instructions

Step 1: Source the ROS 2 Jazzy Environment

Before running ROS 2 commands, ensure your environment is set up properly by sourcing ROS 2 Jazzy:

source /opt/ros/jazzy/setup.bash

Step 2: Start the ROS 2 Turtlesim Node

Launch the turtlesim_node using the following command:

ros2 run turtlesim turtlesim_node

A window with a turtle in the center should appear, and this turtle will respond to ROS 2 commands.

Step 3: Move the Turtle Using Teleop

To move the turtle using your keyboard, you can use the teleop package. Open a new terminal and run:

ros2 run turtlesim turtle_teleop_key

Now, you can control the turtle by pressing the following keys:

• W - Move forward
• A - Turn left
• S - Move backward
• D - Turn right

Conclusion

This is a simple demo of the turtlesim package in ROS 2 Jazzy. You can explore more by learning about ROS 2 topics, services, and actions. Check the official ROS 2 documentation for further exploration.