ROS 2 Tutorial 2: Explanation of Node-Topic Structure of ROS 2 System in Turtlesim Environment

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In this Robot Operating System 2 tutorial, or ROS 2 tutorial, we explain the basic structure of the ROS2 system by using the Turtlesim simulation environment. The structure consists of a graph connecting nodes and topics. More precisely, by using the Turtlesim example, we explain

1.) How to install the Turtlesim simulation environment and rqt graph. The rqt graph is used to visualize the structure of the ROS 2 system.
2.) How to visualize the active nodes, topics, and their connection by using the rqt or rqt_graph.
3.) How to track and print the data that is published to a specific topic.
4.) How to learn details of the message being sent through the corresponding topics and how to see the data structure type of the message.

Before we start with explanations, we have to explain a few important things. First of all, Turtlesim is a toy model of a 2D mobile robot. Consequently, it is a great simulation example for learning ROS2 and for simulating simple trajectories. Every beginner-level student should start learning ROS 2 by learning how to install, debug, and operate the Turtlesim 2D mobile robot.

Видео ROS 2 Tutorial 2: Explanation of Node-Topic Structure of ROS 2 System in Turtlesim Environment канала Aleksandar Haber