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ROS Robotics By Example by Dr. Thomas L. Harman, Carol Fairchild

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Turtlesim, the first ROS robot simulation

A simple way to learn the basics of ROS is to use the turtlesim simulator that is part of the ROS installation. The simulation consists of a graphical window that shows a turtle-shaped robot. The background color for the turtle's world can be changed using the Parameter Server. The turtle can be moved around on the screen by ROS commands or using the keyboard.

Turtlesim is a ROS package, and the basic concepts of package management were presented in the Exploring the ROS packages section, as discussed earlier. We suggest that you refer to this section before continuing.

We will illustrate a number of ROS commands that explore the nodes, topics, messages, and services used by the turtle simulator. We have ...

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