ROS 2 COMMAND LINE EXERCISES

Complete each exercise below using either an actual robot or the
simulator.  If you have time, try the commands using both.

NAME 1 (include last name please): 

NAME 2 (include last name please): 

NAME 3 (include last name please):


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PART 1.

Start the Turtlebot3 Gazebo simulator or robot by following the
provided instructions, then use the ROS 2 command line to accomplish
each of the tasks described below.  For each question, provide the
answer along with the sequence of terminal commands that you used to
solve the problem.

1. Determine the angle increment (in degrees) of the laser scanner
published on the /scan topic.

ANSWER:

ROS COMMANDS:

2. Determine the rate that images are published to the
/camera/image_raw topic.

ANSWER:

ROS COMMANDS:

3. Use an appropriate invocation of 'ros2 topic' to send messages that
will rotate the Turtlebot in place (forever).  Select a rotational
velocity that will cause the robot to complete one complete revolution
every 10 seconds.  Recall that the units for angular velocity are
radians/second and that 180 is equal pi radians. You will need to
publish to: /cmd_vel (Make sure to exit any teleop commands first.)

ROS COMMANDS:

4. Use an appropriate invocation of 'ros2 topic' to send messages that
will cause the Turtlebot to turn (forever) in a circle with a radius
of .144 meters.  The robot should complete one complete circle every
ten seconds. (The distance between the turtlebot wheels is .287
meters: if this is working correctly the Turtlebot should appear to
pivot around its left wheel.)

ROS COMMANDS:

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PART 2.

Repeat each of the previous exercises using rqt instead of the ros2
cli.