2. Turtle Simulator - e-Yantra Robotics Competition

Getting Started with the Turtle Simulator

First, update your package list and install Turtlesim:

sudo apt update
sudo apt install ros-humble-turtlesim

Check that the package is installed:

ros2 pkg executables turtlesim

To start Turtlesim, enter the following command in your terminal:

ros2 run turtlesim turtlesim_node

This will open the Turtlesim window where you can see the turtle.

Open a new terminal and source ROS 2 again. Then run the teleoperation node to control the turtle:

ros2 run turtlesim turtle_teleop_key

Using your keyboard, you can now control the turtle's movement.

You can see the nodes, and their associated topics, services, and actions, using the list subcommands of the respective commands:

ros2 node list
ros2 topic list
ros2 service list
ros2 action list