ROS COMMAND LINE EXERCISES

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 Turtlebot Gazebo simulator by following the instructions
from the previous lab activity, then use the ROS2 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
simulated 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 simulated Turtlebot in place (forever).  Select a
rotational velocity that will cause the robot to complete one complete
revolution every 10 seconds.  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 simulated 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.