The goal of today’s lab is to gain experience working with the TurtleBots and to practice working with ROS 2 tools.

Instructions

• Download the file ros2_cli_worksheet.txt. Complete each of the exercises and write your answers in the text document. You are free to use either the simulator or a physical robot.

• Repeat the exercises above using rqt_gui.

• Close any open rviz windows and restart it as follows:

  ros2 run rviz2 rviz2

  Add plugins to replicate, as closely as possible, the default Turtlebot3 rviz configuration. Save the resulting configuation as lab1.rviz.

Submission

• Submit both ros2_cli_worksheet.txt and lab.rviz through Canvas.

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