ROS2 turtlesim 및 노드 node 토픽 topic graph 분석

ros2 run package_name executable_name

 

ros2 node list

 

rqt_graph

 

ros2 topic list 

 

ros2 topic list -t 

 

ros2 topic echo /turtle1/cmd_vel

 

ros2 interface show geometry_msgs/msg/Twist

 

ros2 topic pub --once /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}"

 

ros2 topic pub --rate 1 /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}"

 

ros2 topic echo /turtle1/pose

 

ros2 topic hz /turtle1/pose