Difference between revisions of "ROS topics"
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Now you need to make this node communicate with the turtle_sim node as you expect to move the turtle with keystrokes. This communication is done over topic. Turtle_teleop_key node publishes messages to a topic which is subscribed by turtle_sim node. You need to use rosrun command to make the node communication | Now you need to make this node communicate with the turtle_sim node as you expect to move the turtle with keystrokes. This communication is done over topic. Turtle_teleop_key node publishes messages to a topic which is subscribed by turtle_sim node. You need to use rosrun command to make the node communication | ||
| − | <nowiki>$ rosrun turtlesim turtle_teleop_key</nowiki> | + | <nowiki>$ rosrun turtlesim turtle_teleop_key</nowiki> |
Using rqt graph you can see which topic is making the communication between the nodes, for this you should command | Using rqt graph you can see which topic is making the communication between the nodes, for this you should command | ||
| − | <nowiki>$ rosrun rqt_graph rqt_graph</nowiki> | + | <nowiki>$ rosrun rqt_graph rqt_graph</nowiki> |
Revision as of 19:08, 19 October 2014
Your turtle simulation node runs with the turtle as static. If you want to move your turtle using the keyboard, you need to have a node that will execute the operation of keyboard. There is a node in the system named turtle_teleop_key. Now you need to make this node communicate with the turtle_sim node as you expect to move the turtle with keystrokes. This communication is done over topic. Turtle_teleop_key node publishes messages to a topic which is subscribed by turtle_sim node. You need to use rosrun command to make the node communication
$ rosrun turtlesim turtle_teleop_key
Using rqt graph you can see which topic is making the communication between the nodes, for this you should command
$ rosrun rqt_graph rqt_graph
