在ROS2中安装turtlesim package 和rqt 工具
学习目标：
在ROS2中安装turtlesim package 和rqt 工具。
学习内容：
1、 更新系统，安装ros-galactic-turtlesim
sudo apt update
sudo apt install ros-galactic-turtlesim
前期ROS2安装时，此包已安装。
Reading package lists... Done
Building dependency tree
Reading state information... Done
ros-galactic-turtlesim is already the newest version (1.3.3-1focal.20211011.231138).
ros-galactic-turtlesim set to manually installed.
0 upgraded, 0 newly installed, 0 to remove and 11 not upgraded.
检查结果
ros2 pkg executables turtlesim
turtlesim draw_square
turtlesim mimic
turtlesim turtle_teleop_key
turtlesim turtlesim_node
运行仿真
ros2 run turtlesim turtlesim_node
输出信息
[INFO] [1637888026.115145954] [turtlesim]: Starting turtlesim with node name /turtlesim
[INFO] [1637888026.119554592] [turtlesim]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000]
2、程控turtlesim
另开一个终端，输入行命令：
ros2 run turtlesim turtle_teleop_key
turtle_teleop_key是前面已安装的turtlesim 包之一，用于在新开启的终端中控制turtlesim_node。
Reading from keyboard
---------------------------
Use arrow keys to move the turtle.
Use G|B|V|C|D|E|R|T keys to rotate to absolute orientations. 'F' to cancel a rotation.
'Q' to quit.
[INFO] [1637888777.692750673] [turtlesim]: Rotation goal completed successfully
[WARN] [1637888780.027846593] [turtlesim]: Rotation goal received before a previous goal finished. Aborting previous goal
[WARN] [1637888780.060247450] [turtlesim]: Rotation goal received before a previous goal finished. Aborting previous goal
[WARN] [1637888780.092547238] [turtlesim]: Rotation goal received before a previous goal finished. Aborting previous goal
[INFO] [1637888780.316034265] [turtlesim]: Rotation goal completed successfully
[INFO] [1637888785.852153918] [turtlesim]: Rotation goal completed successfully
[INFO] [1637888786.028783877] [turtlesim]: Rotation goal completed successfully
[INFO] [1637888786.060231422] [turtlesim]: Rotation goal completed successfully
[INFO] [1637888786.092725477] [turtlesim]: Rotation goal completed successfully
[INFO] [1637888786.124283493] [turtlesim]: Rotation goal completed successfully
[INFO] [1637888786.140362266] [turtlesim]: Rotation goal completed successfully
[INFO] [1637888791.724726207] [turtlesim]: Rotation goal completed successfully
[WARN] [1637888793.804016958] [turtlesim]: Oh no! I hit the wall! (Clamping from [x=4.847247, y=-0.017683])
[WARN] [1637888793.820645140] [turtlesim]: Oh no! I hit the wall! (Clamping from [x=4.846979, y=-0.031999])
查看节点运行信息：
ros2 node list
/turtlesim
ros2 topic list
/parameter_events
/rosout
/turtle1/cmd_vel
/turtle1/color_sensor
/turtle1/pose
ros2 service list
/clear
/kill
/reset
/spawn
/turtle1/set_pen
/turtle1/teleport_absolute
/turtle1/teleport_relative
/turtlesim/describe_parameters
/turtlesim/get_parameter_types
/turtlesim/get_parameters
/turtlesim/list_parameters
/turtlesim/set_parameters
/turtlesim/set_parameters_atomically
ros2 action list
/turtle1/rotate_absolute
3、安装和使用rqt 工具
rqt 是ROS2提供的一个图形化用户接口。
安装rqt 工具：
sudo apt install ~nros-galactic-rqt*
Reading package lists... Done
Building dependency tree
Reading state information... Done
ros-galactic-rqt-action is already the newest version (2.0.0-2focal.20211101.131158).
ros-galactic-rqt-action set to manually installed.
ros-galactic-rqt-bag is already the newest version (1.1.1-2focal.20211012.051134).
ros-galactic-rqt-bag set to manually installed.
ros-galactic-rqt-bag-plugins is already the newest version (1.1.1-2focal.20211012.053712).
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ros-galactic-rqt-common-plugins is already the newest version (1.1.0-2focal.20211101.142005).
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ros-galactic-rqt-console is already the newest version (2.0.2-2focal.20211101.113240).
ros-galactic-rqt-console set to manually installed.
ros-galactic-rqt-graph is already the newest version (1.2.0-2focal.20211011.214849).
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ros-galactic-rqt-gui is already the newest version (1.1.2-1focal.20211011.213937).
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ros-galactic-rqt-gui-cpp is already the newest version (1.1.2-1focal.20211012.002304).
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ros-galactic-rqt-gui-py is already the newest version (1.1.2-1focal.20211011.214240).
ros-galactic-rqt-gui-py set to manually installed.
ros-galactic-rqt-image-view is already the newest version (1.1.1-2focal.20211012.002625).
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ros-galactic-rqt-msg is already the newest version (1.0.5-1focal.20211101.130851).
ros-galactic-rqt-msg set to manually installed.
ros-galactic-rqt-plot is already the newest version (1.1.0-1focal.20211011.214755).
ros-galactic-rqt-plot set to manually installed.
ros-galactic-rqt-publisher is already the newest version (1.1.3-1focal.20211011.214755).
ros-galactic-rqt-publisher set to manually installed.
ros-galactic-rqt-py-common is already the newest version (1.1.2-1focal.20211011.213939).
ros-galactic-rqt-py-common set to manually installed.
ros-galactic-rqt-py-console is already the newest version (1.0.2-1focal.20211011.215010).
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ros-galactic-rqt-reconfigure is already the newest version (1.0.8-1focal.20211101.130853).
ros-galactic-rqt-reconfigure set to manually installed.
ros-galactic-rqt-service-caller is already the newest version (1.0.5-1focal.20211011.214753).
ros-galactic-rqt-service-caller set to manually installed.
ros-galactic-rqt-shell is already the newest version (1.0.2-1focal.20211011.214850).
ros-galactic-rqt-shell set to manually installed.
ros-galactic-rqt-srv is already the newest version (1.0.3-1focal.20211101.131158).
ros-galactic-rqt-srv set to manually installed.
ros-galactic-rqt-top is already the newest version (1.0.2-1focal.20211011.214755).
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ros-galactic-rqt-topic is already the newest version (1.2.2-1focal.20211011.214847).
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The following additional packages will be installed:
python3-rospkg
The following NEW packages will be installed:
python3-rospkg ros-galactic-rqt ros-galactic-rqt-gui-cpp-dbgsym
ros-galactic-rqt-image-view-dbgsym ros-galactic-rqt-moveit
ros-galactic-rqt-robot-dashboard ros-galactic-rqt-robot-monitor
ros-galactic-rqt-robot-steering ros-galactic-rqt-runtime-monitor
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