The ROS 2 graph is a network of nodes that process data together, with each node responsible for a single purpose and communicating with other nodes via topics, services, actions, or parameters. ROS 2 provides terminal commands for running, debugging, and visualizing nodes, including ros2 run to launch an executable, ros2 node list to show running nodes, ros2 node info to access information about a node, and remapping to reassign default node properties.
The ROS graph is a network of ROS 2 elements processing data together at the same time. It encompasses all executables and the connections between them if you were to map them all out and visualize them
ROS functionality is broken down into discrete Nodes. Each node in ROS should be responsible for a single, modular purpose, e.g. controlling the wheel motors or publishing the sensor data from a laser range-finder. Each node can send and receive data from the other nodes via topics, services, actions, or parameters.
ROS 2 provides a host of useful and necessary terminal commands for running, debugging, and visualizing nodes.
The command ros2 run launches an executable from a package. The executables are declared in the setup.py entry points section, described in ‣.
ros2 run <package_name> <executable_name>
<aside> 💡 To runderstand turtlesim node, follow this block
</aside>
Activate turtlesim:
Check if package is installed
ros2 pkg executables turtlesim
Start turtlisim
ros2 run turtlesim turtlesim_node
