Robot Operating System 2 (ROS 2)

Lab 1: Introduction to ROS/ROS 2

Haitham El-Hussieny, PhD

October 19, 2023
Department of Mechatronics and Robotics Engineering
Egypt-Japan University of Science and Technology (E-JUST)
Alexandria, Egypt.
What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

W HY ROS NOW !

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

W HY ROS 2 THEN ?

ROS 2 is the future

Disclaimer
In this course, we will assume no
previous knowledge of ROS.

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

T HE CHALLENGE !

Suppose you are working on a KUKA R820 iiwa End-effector moving (Java)

Robot for years. CartesianPTP ptpMove = ptp(destFrame);

ptpMove.setJointJerkRel(0.1).setJointVelocityRel(0.5);
toolAttachedToLBR.move(ptpMove);

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

T HE CHALLENGE !

Suppose you are working on a KUKA R820 iiwa End-effector moving (Java)

Robot for years. CartesianPTP ptpMove = ptp(destFrame);

ptpMove.setJointJerkRel(0.1).setJointVelocityRel(0.5);
toolAttachedToLBR.move(ptpMove);

Now, you need to move to use UR10 robot, or

use a ready avaiable code built for UR10.

End-effector moving (CB3)

movel
WaypointStart
Waypoint1
WaypointEnd1

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

T HE CHALLENGE !

Suppose you are working on a KUKA R820 iiwa End-effector moving (Java)

Robot for years. CartesianPTP ptpMove = ptp(destFrame);

ptpMove.setJointJerkRel(0.1).setJointVelocityRel(0.5);
toolAttachedToLBR.move(ptpMove);

Now, you need to move to use UR10 robot, or

use a ready avaiable code built for UR10.

End-effector moving (CB3)

movel
WaypointStart
Challenge: No standards. Time consuming for Waypoint1
WaypointEnd1
knowledge transfer!
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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

R OBOT O PERATING S YSTEM (ROS):

End-effector moving (Java)

Developer
CartesianPTP ptpMove = ptp(destFrame);
ptpMove.setJointJerkRel(0.1).setJointVelocityRel(0.5); target_pose.pose.position.x = 0.5;

ROS
toolAttachedToLBR.move(ptpMove); target_pose.pose.position.y = 0.0;
target_pose.pose.position.z = 0.9;
group.setPoseTarget(target_pose);

End-effector moving (CB3)

movel
WaypointStart
Waypoint1
WaypointEnd1
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ROS facilitates standardization among different robots.
What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

O UTLINE

1. What is and why ROS 2?

2. ROS 2 Design Philosophy

3. Basic Linux Commands

4. ROS 2 Command Line Interface (CLI).

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What is and why ROS 2?
What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

W HAT IS ROS?
R OBOT O PERATING S YSTEM (ROS):
The Robot Operating System (ROS) is a set of open-source software libraries and tools that
help you build robot applications.

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

W HAT IS ROS?
R OBOT O PERATING S YSTEM (ROS):
The Robot Operating System (ROS) is a set of open-source software libraries and tools that
help you build robot applications.

Plumbing
Process
management.
Inter-process
communication.
Device drivers. 6
What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

W HAT IS ROS?
R OBOT O PERATING S YSTEM (ROS):
The Robot Operating System (ROS) is a set of open-source software libraries and tools that
help you build robot applications.

Plumbing
Tools
Process
management. Simulation

Inter-process Visualization
communication. Data logging
Device drivers. 6
What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

W HAT IS ROS?
R OBOT O PERATING S YSTEM (ROS):
The Robot Operating System (ROS) is a set of open-source software libraries and tools that
help you build robot applications.

Capabilites
Plumbing
Tools Control
Process
management. Simulation Planning

Inter-process Visualization Perception

communication. Data logging Mapping
Device drivers. Manipulation 6
What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

W HAT IS ROS?
R OBOT O PERATING S YSTEM (ROS):
The Robot Operating System (ROS) is a set of open-source software libraries and tools that
help you build robot applications.

Community
Capabilites
Plumbing Packaging
Tools Control
Process Software
management. Simulation Planning
distribution
Inter-process Visualization Perception
Documentation
communication. Data logging Mapping
Tutorials
Device drivers. Manipulation 6
What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

H ISTORY OF ROS

Originally developed in 2007 at the Stanford

Artificial Intelligence Laboratory.
Since 2013 managed by OSRF (open robotics).
Today used by many robots, universities and
companies.

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

ROS 1 A RCHITECTURE

ROS Node:
It is the basic unit of processing. ROS ROS
Node 1 Node 2

ROS
Master

Client libraries
(roscpp, rospy)

TCPROS/ UDPROS

Linux

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

ROS 1 A RCHITECTURE

ROS Node:
It is the basic unit of processing. ROS ROS
Node 1 Node 2
ROS Master:
The core of ROS program. Nodes need to
register theselves and communicate through it. ROS
(Problematic!) Master

Client libraries
(roscpp, rospy)

TCPROS/ UDPROS

Linux

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

ROS 1 A RCHITECTURE

ROS Node:
It is the basic unit of processing. ROS ROS
Node 1 Node 2
ROS Master:
The core of ROS program. Nodes need to
register theselves and communicate through it. ROS
(Problematic!) Master

Client libraries:
C++ and Python programming language are Client libraries
(roscpp, rospy)
supported.
TCPROS/ UDPROS

Linux

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

ROS 1 A RCHITECTURE

ROS Node:
It is the basic unit of processing. ROS ROS
Node 1 Node 2
ROS Master:
The core of ROS program. Nodes need to
register theselves and communicate through it. ROS
(Problematic!) Master

Client libraries:
C++ and Python programming language are Client libraries
(roscpp, rospy)
supported.
TCP/ UDP: TCPROS/ UDPROS

For peer-to-peer communications.

Linux

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

ROS 1 A RCHITECTURE

ROS Node:
It is the basic unit of processing. ROS ROS
Node 1 Node 2
ROS Master:
The core of ROS program. Nodes need to
register theselves and communicate through it. ROS
(Problematic!) Master

Client libraries:
C++ and Python programming language are Client libraries
(roscpp, rospy)
supported.
TCP/ UDP: TCPROS/ UDPROS

For peer-to-peer communications.

Linux OS: Linux
ROS 1 is supported by Linux OS.
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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

S TARTING OF ROS 2.

Limitations of ROS 1:
Built for a single robot.
Not real-time.
Needs reliable network.
Single point of failure.
Next-generation ROS: Building on DDS (2014).
First official release of ROS 2: Ardent Apalone,
December 2017.

ROS 2 Ardent Apalone

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

ROS 2 VS . ROS 1

ROS 1 ROS 2
ROS ROS ROS ROS ROS
Node 1 Node 2 Node 1 Node 2 Node 3

ROS
Client libraries
Master
(rclpy, rclcpp)

Abstract DDS
Client libraries
(roscpp, rospy) Intra-process
DDS
API
TCPROS/ UDPROS

Linux, Windows, Mac OS

Linux

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ROS 2 Design Philosophy
What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

ROS 1 BASIC C ONCEPTS

Reference Book: ROS Robot Programming (in English).Authors: Yoonseok Pyo, Hancheol Cho, Leon Jung, 11
What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

ROS 2 OVER DDS

What is DDS?
DDS stands for Data
Distribution Service.
DDS is an open standard for
data-centric communication
middleware.
It enables efficient, real-time
data exchange between
components in a distributed
system.
mDDS offers a
publish-subscribe model. ROS 2 layered design

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

ROS 2 BASIC C ONCEPT

ROS 2 breaks complex systems down into many modular nodes. Topics are a vital
element of the ROS graph that act as a bus for nodes to exchange messages.

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

ROS 2 BASIC C ONCEPT

Example: Kobuki robot

The Kobuki robot driver is a ROS node that communicates with the robot’s hardware,
publishing the bumper state, and recieving the robot’s velocity.

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Basic Linux Commands
What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

BASIC L INUX C OMMANDS

Ubuntu is a popular open-source Linux-based

operating system that is widely used for personal
computers, servers, and cloud computing.
Ubuntu is preferred for ROS/ ROS 2:
1. ROS is natively supported on Ubuntu.
2. Large user and developer community.

In this course we will use Ubuntu 20.04.5 LTS

with ROS 2 Foxy (EoL in April of 2023)

You can use Ubuntu 22.04 LTS with ROS 2

Humble LTS (EoL in May 2027)

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

ROS 2 I NSTALLATION .

Steps to follow (ROS 2 Foxy on Ubuntu 20.04):

Install Ubuntu 20.04 in Dual Boot.
Installation of ROS 2 Foxy on Ubuntu 20.04
Download VSCode for Ubuntu.
Install terminator for Ubuntu.

ROS 2 Foxy Fitzroy

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

ROS 2 I NSTALLATION .

Steps to follow (ROS 2 Humble on Ubuntu 22.04):

Install Ubuntu 22.04 in Dual Boot.
Installation of ROS 2 Humble on Ubuntu 22.04
Download VSCode for Ubuntu.
Install terminator for Ubuntu.

ROS 2 Humble Hawksbill

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

BASIC L INUX C OMMANDS

pwd
It shows us the file path of the working
directory.

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

BASIC L INUX C OMMANDS

pwd
It shows us the file path of the working
directory.
mkdir
“mkdir” command creates a folder on the
working directory.
$ mkdir folder1

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

BASIC L INUX C OMMANDS

pwd
It shows us the file path of the working
directory.
mkdir
“mkdir” command creates a folder on the
working directory.
$ mkdir folder1
mkdir -p
“mkdir -p” command creates nested folders
on the working directory.
$ mkdir -p folder2/folder3

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

BASIC L INUX C OMMANDS

pwd touch
It shows us the file path of the working This command creates any file that has a
directory. specific extension.
mkdir $ touch file2.py
“mkdir” command creates a folder on the $ touch file2.cpp
working directory.
$ mkdir folder1
mkdir -p
“mkdir -p” command creates nested folders
on the working directory.
$ mkdir -p folder2/folder3

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

BASIC L INUX C OMMANDS

pwd touch
It shows us the file path of the working This command creates any file that has a
directory. specific extension.
mkdir $ touch file2.py
“mkdir” command creates a folder on the $ touch file2.cpp
working directory.
cat
$ mkdir folder1 The cat command opens any file on the
mkdir -p terminal.
“mkdir -p” command creates nested folders $ cat file.py
on the working directory.
$ mkdir -p folder2/folder3

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

BASIC L INUX C OMMANDS

pwd touch
It shows us the file path of the working This command creates any file that has a
directory. specific extension.
mkdir $ touch file2.py
“mkdir” command creates a folder on the $ touch file2.cpp
working directory.
cat
$ mkdir folder1 The cat command opens any file on the
mkdir -p terminal.
“mkdir -p” command creates nested folders $ cat file.py
on the working directory. ls
$ mkdir -p folder2/folder3 lists all files and folders in the directory.

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

BASIC L INUX C OMMANDS

history
The “History” command lists all previously
used commands.

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

BASIC L INUX C OMMANDS

history
The “History” command lists all previously
used commands.
sudo
The “sudo” command makes the user a
superuser for only one operation.
$ sudo apt-get install python3

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

BASIC L INUX C OMMANDS

history
The “History” command lists all previously
used commands.
sudo
The “sudo” command makes the user a
superuser for only one operation.
$ sudo apt-get install python3
clear
The “clear” command clears the terminal
screen.

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

BASIC L INUX C OMMANDS

history
The “History” command lists all previously man ls
The “man ls” command gives pieces of
used commands.
information about the commands.
sudo
The “sudo” command makes the user a
superuser for only one operation.
$ sudo apt-get install python3
clear
The “clear” command clears the terminal
screen.

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

BASIC L INUX C OMMANDS

history
The “History” command lists all previously man ls
The “man ls” command gives pieces of
used commands.
information about the commands.
sudo
The “sudo” command makes the user a sudo apt-get install
Install the specified package.
superuser for only one operation. $ sudo apt-get install nano
$ sudo apt-get install python3
clear
The “clear” command clears the terminal
screen.

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

BASIC L INUX C OMMANDS

history
The “History” command lists all previously man ls
The “man ls” command gives pieces of
used commands.
information about the commands.
sudo
The “sudo” command makes the user a sudo apt-get install
Install the specified package.
superuser for only one operation. $ sudo apt-get install nano
$ sudo apt-get install python3
sudo apt-get remove
clear Uninstall the specified package.
The “clear” command clears the terminal $ sudo apt-get remove nano
screen.

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

BASIC L INUX C OMMANDS

nano
he nano command is a text editor that works
on the terminal.
$ nano hello world.py

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

BASIC L INUX C OMMANDS

nano
he nano command is a text editor that works
on the terminal.
$ nano hello world.py
cp
The “cp” command copies that we specified
file into a specific folder.
$ cp file1.py folder1

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

BASIC L INUX C OMMANDS

nano
he nano command is a text editor that works
on the terminal.
$ nano hello world.py
cp
The “cp” command copies that we specified
file into a specific folder.
$ cp file1.py folder1
cp -r
The “cp -r” command copies a specified
folder into another folder.

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

BASIC L INUX C OMMANDS

nano mv
he nano command is a text editor that works Moves/renames any file or folder into another
on the terminal. folder.
$ nano hello world.py $ move file.py folder2
$ move file.py file2.py
cp
The “cp” command copies that we specified
file into a specific folder.
$ cp file1.py folder1
cp -r
The “cp -r” command copies a specified
folder into another folder.

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

BASIC L INUX C OMMANDS

nano mv
he nano command is a text editor that works Moves/renames any file or folder into another
on the terminal. folder.
$ nano hello world.py $ move file.py folder2
$ move file.py file2.py
cp
The “cp” command copies that we specified chmod +x
file into a specific folder. give the execute right to the file
$ cp file1.py folder1 $ chmod +x file.py

cp -r
The “cp -r” command copies a specified
folder into another folder.

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

BASIC L INUX C OMMANDS

nano mv
he nano command is a text editor that works Moves/renames any file or folder into another
on the terminal. folder.
$ nano hello world.py $ move file.py folder2
$ move file.py file2.py
cp
The “cp” command copies that we specified chmod +x
file into a specific folder. give the execute right to the file
$ cp file1.py folder1 $ chmod +x file.py

cp -r cd
The “cp -r” command copies a specified change the directory
folder into another folder. $ cd myfolder

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ROS 2 Command Line Interface
(CLI).
What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

C ONFIGURING ENVIRONMENT

After ROS 2 installation, two workspace are used:

Underlay: The core ROS 2 workspace.
located in /opt/ros/foxy/. (for Humble: /opt/ros/humble/)
Overlay: The user local workspaces.
e.g. /home/ros2 ws/

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

C ONFIGURING ENVIRONMENT

After ROS 2 installation, two workspace are used:

Underlay: The core ROS 2 workspace.
located in /opt/ros/foxy/. (for Humble: /opt/ros/humble/)
Overlay: The user local workspaces.
e.g. /home/ros2 ws/

Source the underlay setup files

We need to run this command on every new shell to have access to the ROS 2
commands:
$ source /opt/ros/foxy/setup.bash
$ source /opt/ros/humble/setup.bash For Humble

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

C ONFIGURING ENVIRONMENT

After ROS 2 installation, two workspace are used:

Underlay: The core ROS 2 workspace.
located in /opt/ros/foxy/. (for Humble: /opt/ros/humble/)
Overlay: The user local workspaces.
e.g. /home/ros2 ws/

Source the underlay setup files

We need to run this command on every new shell to have access to the ROS 2
commands:
$ source /opt/ros/foxy/setup.bash
$ source /opt/ros/humble/setup.bash For Humble

Otherwise, we can put the sourcing line in the .bashrc file

$ gedit .bashrc
# Add the sourcing line, save, and close.
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$ source .bashrc
What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

U SING TURTLESIM , ROS 2, AND RQT

Turtlesim
Turtlesim is a lightweight simulator for learning ROS 2.

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

U SING TURTLESIM , ROS 2, AND RQT

Turtlesim
Turtlesim is a lightweight simulator for learning ROS 2.

1. Install Turtlesim
$ sudo apt-get install ros-foxy-turtlesim

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

U SING TURTLESIM , ROS 2, AND RQT

Turtlesim
Turtlesim is a lightweight simulator for learning ROS 2.

1. Install Turtlesim
$ sudo apt-get install ros-foxy-turtlesim

2. Run turtlesim node in turtlesim package:

ros2 run [package name] [node name]
$ ros2 run turtlesim turtlesim node

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

U SING TURTLESIM , ROS 2, AND RQT

Turtlesim
Turtlesim is a lightweight simulator for learning ROS 2.

1. Install Turtlesim
$ sudo apt-get install ros-foxy-turtlesim

2. Run turtlesim node in turtlesim package:

ros2 run [package name] [node name]
$ ros2 run turtlesim turtlesim node

3. Run turtle teleop key node:

$ ros2 run turtlesim turtle teleop key

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

U SING TURTLESIM , ROS 2, AND RQT

1. List all the running ROS 2 nodes

$ ros2 node list
/teleop turtle
/turtlesim

2. Get info about a certain node:

$ ros2 node info turtlesim

3. Visualize nodes communication:

$ rqt graph

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

U SING TURTLESIM , ROS 2, AND RQT

ROS 2 topics are unidirectional and allow communication of 1:N, N:1 or N:N.

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

U SING TURTLESIM , ROS 2, AND RQT

1. List all running ROS 2 topics:

$ ros2 topic list
/parameter events
/rosout
/turtle1/cmd vel
/turtle1/color sensor
/turtle1/pose

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

U SING TURTLESIM , ROS 2, AND RQT

1. List all running ROS 2 topics:

$ ros2 topic list
/parameter events
/rosout
/turtle1/cmd vel
/turtle1/color sensor
/turtle1/pose
2. Get information about a certain topic:
$ ros2 topic info
/turtle1/cmd vel

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

U SING TURTLESIM , ROS 2, AND RQT

1. List all running ROS 2 topics:

$ ros2 topic list
/parameter events
/rosout
/turtle1/cmd vel
/turtle1/color sensor
/turtle1/pose
2. Get information about a certain topic:
$ ros2 topic info
/turtle1/cmd vel
3. Get information about a certain message:
$ ros2 interface show
geometry msgs/Twist

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

U SING TURTLESIM , ROS 2, AND RQT

Publishing and subscribing to topics:

1. Publish data on a ROS 2 topic:
ros2 topic pub <topic name> <msg type> ’<args>’
$ ros2 topic pub --once /turtle1/cmd vel geometry msgs/msg/Twist
"linear: x: 2.0, y: 0.0, z: 0.0, angular: x: 0.0, y: 0.0,
z: 1.8"

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

U SING TURTLESIM , ROS 2, AND RQT

Publishing and subscribing to topics:

1. Publish data on a ROS 2 topic:
ros2 topic pub <topic name> <msg type> ’<args>’
$ ros2 topic pub --once /turtle1/cmd vel geometry msgs/msg/Twist
"linear: x: 2.0, y: 0.0, z: 0.0, angular: x: 0.0, y: 0.0,
z: 1.8"

To send the command continously:

$ ros2 topic pub --rate 1 /turtle1/cmd vel geometry msgs/msg/Twist
"linear: x: 2.0, y: 0.0, z: 0.0, angular: x: 0.0, y: 0.0,
z: 1.8"

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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

U SING TURTLESIM , ROS 2, AND RQT

Publishing and subscribing to topics:

1. Publish data on a ROS 2 topic:
ros2 topic pub <topic name> <msg type> ’<args>’
$ ros2 topic pub --once /turtle1/cmd vel geometry msgs/msg/Twist
"linear: x: 2.0, y: 0.0, z: 0.0, angular: x: 0.0, y: 0.0,
z: 1.8"

To send the command continously:

$ ros2 topic pub --rate 1 /turtle1/cmd vel geometry msgs/msg/Twist
"linear: x: 2.0, y: 0.0, z: 0.0, angular: x: 0.0, y: 0.0,
z: 1.8"

2. Recieve data from a certain topic:

$ ros2 topic echo /turtle1/cmd vel
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What is and why ROS 2? ROS 2 Design Philosophy Basic Linux Commands ROS 2 Command Line Interface (CLI).

End of Lecture

[email protected]

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