Hands-On ROS for Robotics Programming

A node publishing a topic

For the next steps, since we will need to deal with several simultaneous terminals, we will make use of a very handy tool, Terminator, that allows you to simultaneously handle several terminals. Launch these commands to install it on your system:

$ sudo apt-get update$ sudo apt-get install terminator

Launch Terminator and divide the screen into four terminals (you can right-click on the mouse to divide the windows successively). We will reference them as T1, T2, T3, and T4, as shown in the following screenshot:

Launch the roscore node in terminal 1 (the top-left window):

T1 $ roscore

You should be able to see this ...