Robot Operating System Cookbook

How to do it…

It is time for us to practice what we have learned until now. Following, we will see examples to practice, along with creating packages, using nodes, using parameter servers, and moving a simulated robot with turtlesim.

To run ROS master and parameter server, use the following command:

$ roscore

In the following screenshot, we can see a log file is created inside the /home/kbipin/.ros/log folder for collecting logs from ROS nodes, in the first part of the screen. This file can be used for debugging purposes.

The next part shows that the theroslaunch command is executing a ROS launch file called roscore.xml. When a launch file executes, it automatically starts rosmaster and the ROS parameter server. The roslaunch command is a ...