ROS Tutorial #09 ROS Noetic Understanding ROS Services and Parameters

𝐈𝐧𝐯𝐞𝐫𝐬𝐞 𝐑𝐨𝐛𝐨𝐭𝐢𝐜𝐬 𝐏𝐯𝐭 𝐋𝐭𝐝 𝐢𝐬 𝐚𝐧 𝐈𝐧𝐝𝐢𝐚𝐧 𝐓𝐞𝐜𝐡𝐧𝐨𝐥𝐨𝐠𝐲 𝐂𝐨𝐦𝐩𝐚𝐧𝐲 𝐭𝐡𝐚𝐭 𝐝𝐞𝐬𝐢𝐠𝐧𝐬 𝐚𝐧𝐝 𝐛𝐮𝐢𝐥𝐝𝐬, 𝐄𝐝𝐮𝐜𝐚𝐭𝐢𝐨𝐧𝐚𝐥, 𝐂𝐨𝐧𝐬𝐮𝐦𝐞𝐫, 𝐈𝐧𝐝𝐮𝐬𝐭𝐫𝐢𝐚𝐥 𝐑𝐨𝐛𝐨𝐭𝐬 𝐚𝐧𝐝 𝟑𝐃 𝐏𝐫𝐢𝐧𝐭𝐞𝐫𝐬 (𝐒𝐋𝐀 𝐚𝐧𝐝 𝐅𝐃𝐌).

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🅱🅴🅶🅸🅽🅽🅴🆁 🅻🅴🆅🅴🅻
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𝟎𝟏. 𝐇𝐨𝐰 𝐭𝐨 𝐈𝐧𝐬𝐭𝐚𝐥𝐥 𝐑𝐎𝐒 𝐍𝐨𝐞𝐭𝐢𝐜 𝐍𝐢𝐧𝐣𝐞𝐦𝐲𝐬

𝟎𝟐. 𝐈𝐧𝐬𝐭𝐚𝐥𝐥𝐢𝐧𝐠 𝐚𝐧𝐝 𝐂𝐨𝐧𝐟𝐢𝐠𝐮𝐫𝐢𝐧𝐠 𝐘𝐨𝐮𝐫 𝐑𝐎𝐒 𝐄𝐧𝐯𝐢𝐫𝐨𝐧𝐦𝐞𝐧𝐭

𝟎𝟑. 𝐍𝐚𝐯𝐢𝐠𝐚𝐭𝐢𝐧𝐠 𝐭𝐡𝐞 𝐑𝐎𝐒 𝐅𝐢𝐥𝐞𝐬𝐲𝐬𝐭𝐞𝐦

𝟎𝟒. 𝐂𝐫𝐞𝐚𝐭𝐢𝐧𝐠 𝐚 𝐑𝐎𝐒 𝐏𝐚𝐜𝐤𝐚𝐠𝐞

𝟎𝟓. 𝐑𝐎𝐒 𝐍𝐨𝐞𝐭𝐢𝐜 𝐫𝐨𝐬𝐩𝐚𝐜𝐤 𝐄𝐫𝐫𝐨𝐫 : 𝐭𝐡𝐞 𝐫𝐨𝐬𝐝𝐞𝐩 𝐯𝐢𝐞𝐰 𝐢𝐬 𝐞𝐦𝐩𝐭𝐲 𝐜𝐚𝐥𝐥 '𝐬𝐮𝐝𝐨 𝐫𝐨𝐬𝐝𝐞𝐩 𝐢𝐧𝐢𝐭' 𝐚𝐧𝐝 '𝐫𝐨𝐬𝐝𝐞𝐩 𝐮𝐩𝐝𝐚𝐭𝐞'

𝟎𝟔. 𝐁𝐮𝐢𝐥𝐝𝐢𝐧𝐠 𝐚 𝐑𝐎𝐒 𝐏𝐚𝐜𝐤𝐚𝐠𝐞

𝟎𝟕. 𝐔𝐧𝐝𝐞𝐫𝐬𝐭𝐚𝐧𝐝𝐢𝐧𝐠 𝐑𝐎𝐒 𝐍𝐨𝐝𝐞𝐬

𝟎𝟖. 𝐔𝐧𝐝𝐞𝐫𝐬𝐭𝐚𝐧𝐝𝐢𝐧𝐠 𝐑𝐎𝐒 𝐓𝐨𝐩𝐢𝐜𝐬

𝟎𝟗. 𝐔𝐧𝐝𝐞𝐫𝐬𝐭𝐚𝐧𝐝𝐢𝐧𝐠 𝐑𝐎𝐒 𝐒𝐞𝐫𝐯𝐢𝐜𝐞𝐬 𝐚𝐧𝐝 𝐏𝐚𝐫𝐚𝐦𝐞𝐭𝐞𝐫𝐬

𝟏𝟎. 𝐔𝐬𝐢𝐧𝐠 𝐫𝐪𝐭_𝐜𝐨𝐧𝐬𝐨𝐥𝐞 𝐚𝐧𝐝 𝐫𝐨𝐬𝐥𝐚𝐮𝐧𝐜𝐡

Assuming your turtlesim_node is still running from the last tutorial, let's look at what services the turtlesim provides:
$ roscode
$ rosrun turtlesim turtlesim_node
$ rosrun turtlesim turtle_teleop_key

$ rosservice list
$ rosservice type /clear
$ rosservice call /clear
$ rosservice type /spawn | rossrv show
$ rosservice call /spawn 2 2 0.2 ""
$ rosparam list
$ rosparam set /turtlesim/background_r 150
$ rosservice call /clear
$ rosparam get /turtlesim/background_g
$ rosparam get /
$ rosparam get /copy/background_b

Also, feel free to press Ctrl-C to stop turtlesim_node.

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