Make: Volume 95

We need two of the terminal windows to run

our publisher and subscriber as two separate

processes. We’ll use the third window to examine

a graph of how our nodes are communicating.

In the first terminal, source the new package

environment and run the node. The Docker

image is configured to initialize the global ROS

environment, so ROS commands and built-in

packages work in these terminal windows.

However, ROS does not know about our new

package yet, so we need to tell it where to

find that package. So, every time you open

a new terminal window, you need to source

the environment for the workspace you wish

to use, which includes all ...