1 Install turtlesim
As always, start by sourcing your setup files in a new terminal, as described in the previous tutorial.
sudo apt update
sudo apt install ros-humble-turtlesimCheck that the package is installed:
ros2 pkg executables turtlesim
The above command should return a list of turtlesim’s executables:
turtlesim draw_square
turtlesim mimic
turtlesim turtle_teleop_key
turtlesim turtlesim_node2. Start turtlesim
To start turtlesim, enter the following command in your terminal:
ros2 run turtlesim turtlesim_node
3 Use turtlesim
Open a new terminal and source ROS 2 again.
Now you will run a new node to control the turtle in the first node:
ros2 run turtlesim turtle_teleop_key
4 Install rqt
sudo apt update
sudo apt install ~nros-humble-rqt*5 Use rqt
5.1 Try the spawn service
5.2 Try the set_pen service
6 Remapping
ros2 run turtlesim turtle_teleop_key --ros-args --remap turtle1/cmd_vel:=turtle2/cmd_vel
* If you want to remap the setting in the node you can do like below :
ros2 run turtlesim turtlesim_node --ros-args --remap __node:=my_turtle \
--ros-args --remap turtle1/cmd_vel:=my_turtle/cmd_vel