Hands-On ROS for Robotics Programming

Launching the ROS execution environment

Now that we have understood how the Python script integrates with ROS, we will execute it in one terminal as part of the ROS runtime environment using the following steps:

1. Prepare your divided Terminator window again for better visibility, and then run each of the following commands in independent terminals:

T1 $ roscoreT2 $ rosrun mygopigo distance-sensor.pyT3 $ rostopic echo /distance_sensor/distance

The first one launches the ROS master node. The second one is the script we have just explained, while the third allows us to watch messages published under the /distance_sensor/distance topic in real time. This is what you should see:

2. Then, draw the ROS graph to get a visual insight into how nodes ...