You’re now able to create your own ROS 2 nodes in both Python and Cpp.

Great!

In this section you will learn more about some of the most useful ROS 2 tools. Those tools will allow you to start your nodes and introspect your whole ROS 2 application.

This is also a good opportunity to experiment more with nodes. Nodes are really the foundation of anything you’ll write in ROS 2.

What you’ll do in this section:

• Run your nodes with ros2 run, and by adding more options so you can change the node’s name

• Introspect nodes with ros2 cli (cli: Command Line Interface)

• Visualize the complete graph of your application with rqt_graph

• Discover Turtlesim, a 2D simulation

At the end of the section you’ll also be able to experiment more with a short activity. As we progress in the course I’ll give you more and more activities so you can spend more time experimenting and applying the concepts by yourself.

Let’s get started!