Learning working with ROS

In the preceding section, we learned about the basic concept and terminology required to start with the ROS computational network framework. Subsequently, in this section, we will focus mostly on the practical aspect.

Getting ready

Before running any ROS nodes, we should start the ROS master and the ROS parameter server. We can start ROS master and the ROS parameter server using a single command called roscore, which will start three programs by default; ROS master, ROS parameter server, and rosout logging nodes.

How to do it…

It is time for us to practice what we have learned until now. Following, we will see examples to practice, along with creating packages, using nodes, using parameter servers, and moving a simulated robot with turtlesim.

To run ROS master and parameter server, use the following command:

$ roscore

In the following screenshot, we can see a log file is created inside the /home/kbipin/.ros/log folder for collecting logs from ROS nodes, in the first part...