1.5 ROS 2 Turtlesim Tutorial

Turtlesim is a lightweight simulator for learning ROS 2. It illustrates what ROS 2 does at the most basic level to give you an idea of what you will do with a real robot or a robot simulation later on.

The ros2 tool is how the user manages, introspects, and interacts with a ROS system. It supports multiple commands that target different aspects of the system and its operation. One might use it to start a node, set a parameter, listen to a topic, and many more. The ros2 tool is part of the core ROS 2 installation.

rqt is a graphical user interface (GUI) tool for ROS 2. Everything done in rqt can be done on the command line, but rqt provides a more user-friendly way to manipulate ROS 2 elements.

This tutorial touches upon core ROS 2 concepts, like nodes, topics, and services. All of these concepts will be elaborated on in later tutorials; for now, you will simply set up the tools and get a feel for them.