uwrt-tutorial-2019

To compile code:

• From root folder:

$ catkin_make

To run basic pubsub

• From root folder:

$ roscore

In a new terminal tab/window, from same folder:

$ source devel/setup.bash
$ rosrun uwrt_tut pub_node

In a new terminal tab/window, from same folder:

$ source devel/setup.bash
$ rosrun uwrt_tut sub_node

sub_node should print the messages received from pub_node.

To run turtle_control

• From root folder:

$ roscore

In a new terminal tab/window, from same folder:

$ rosrun turtlesim turtlesim_node

The turtlebot simulator should appear. In a new terminal tab/window, from same folder:

$ source devel/setup.bash
$ rosrun turtle_control turtle_contronode

In a new terminal tab/window:

$ rostopic pub /goal geometry_msgs/Point "x: 8.0 y: 7.0 z: 0.0"

The turtle will move to the coordinate you specify. Try out other coordinates.