1.5.2 Start Turtlesim

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

ros2 run turtlesim turtlesim_node

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

In the terminal, under the command, you will see messages from the node:

[INFO] [turtlesim]: Starting turtlesim with node name /turtlesim
[INFO] [turtlesim]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000]

There you can see the default turtle’s name and the coordinates where it spawns.