ROS runs the little turtle

1米/秒往前走
rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{linear: {x: 1, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0}}'
原地打转
rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{linear: {x: 0, y: 0, z: 0}, angular: {x: 0, y: 0, z: 6.28}}'
1米/秒往后走
rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{linear: {x: -1, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0}}'

1. Start ros

2. Start the little turtle

To open a terminal separately, you can use the command ctrl+shift+t to open a new terminal in the same window. input the command:

rosrun turtlesim turtlesim_node

    
    
     
     

    
    
     
     
      
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A small turtle window will appear:
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The format of the rosrun command is: rosrun [package name] [node name]. turtlesim is a function package, and turtlesim_node is a node in the function package.

3. Keyboard control

And this time open a new terminal to run another node

rosrun turtlesim turtle_teleop_key

    
    
     
     

    
    
     
     
      
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The movement of the turtle is controlled by the four arrows of the keyboard.
Note that the cursor must be placed on this terminal for the turtle to move.
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4. Command control

1米/秒往前走
rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{
       
       linear: {
       
       x: 1, y: 0, z: 0}, angular: {
       
       x: 0, y: 0, z: 0}}'
原地打转
rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{
       
       linear: {
       
       x: 0, y: 0, z: 0}, angular: {
       
       x: 0, y: 0, z: 6.28}}'
1米/秒往后走
rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{
       
       linear: {
       
       x: -1, y: 0, z: 0}, angular: {
       
       x: 0, y: 0, z: 0}}'

    
    
     
     

    
    
     
     
      
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