ROS 2 Suite node sample

c++ sample

Run example for subscribe, you can open a terminal to executing command:

ros2 run demo_nodes_cpp listener

Open a new terminal to executing command to publish:

ros2 run demo_nodes_cpp talker

<img _cke_saved_src="Ros2 suite node sample cpp.png" _fck_mw_filename="Ros2 suite node sample cpp.png" src="/wiki/images/5/56/Ros2_suite_node_sample_cpp.png" />

 

rclnodejs sample

Run example for subscribe, you can open a terminal to executing command:

cd /usr/local/Advantech/ros/foxy/sample_code/rclnodejs_sample
node sub.js

Open a new terminal to executing command to publish:

cd /usr/local/Advantech/ros/foxy/sample_code/rclnodejs_sample
node pub.js

 

rclpy sample

Run example for subscribe, you can open a terminal to executing command:

cd /usr/local/Advantech/ros/foxy/sample_code/rclpy_sample
python3 subscriber.py

Open a new terminal to executing command to publish:

cd /usr/local/Advantech/ros/foxy/sample_code/rclpy_sample
python3 publish.py

turtlesim

Open a terminal to start turtlesim by executing command:

ros2 run turtlesim turtlesim_node

The simulator window should appear, with a random turtle in the center.

Open a new terminal, run a new node to control the turtle in the first node by executing command:

ros2 run turtlesim turtle_teleop_key

Use the arrow keys on your keyboard to control the turtle. It will move around the screen, using its attached “pen” to draw the path it followed so far.