The second section is to control the movement of the little tortoise, which is an operation performed under the establishment of the first section and the installation of the ROS environment.
1. We first install the turtlesim function package of Little Tortoise, and enter the following command:
sudo apt-get install ros-kinetic-turtlesim
2. Then we run the ROS node manager and enter the following commands:
roscore
3. Then we open a new terminal, use the rosrun command to start the small turtle simulation node for small turtle simulation, enter the following command:
rosrun turtlesim turtlesim_node
4. Then we open another terminal (there are three terminals in total at this time), and input keyboard control commands to control the little turtle:
rosrun turtlesim turtle_teleop_key
Wait for the prompt to pop up:
Reading from keyboard
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Use arrow keys to move the turtle.
We can use the arrow keys on the small keyboard to control the little turtle