WEBVTT 00:00.080 --> 00:03.440 This is the solution for the first activity of this course. 00:03.440 --> 00:08.570 And in this activity, the challenge is to get the same view here as I have on this image. 00:08.570 --> 00:10.940 When you start our cut graph, okay. 00:10.970 --> 00:14.600 And as you can see we need to start four different nodes. 00:14.600 --> 00:15.830 The first two nodes. 00:15.830 --> 00:20.030 So we have the Python one and the C plus plus ones that we need to rename. 00:20.060 --> 00:23.570 And then we also have the turtle sim with the teleop. 00:23.570 --> 00:26.150 So let's start with that node here. 00:26.150 --> 00:28.520 You see we have to start the Python node. 00:28.550 --> 00:30.170 Actually we could start any node. 00:30.170 --> 00:35.000 In the end we just need to start the node that has this name custom pi. 00:35.030 --> 00:44.090 So let's do ros to run my pi pkg with pi node. 00:44.390 --> 00:51.230 And then well the default name I can just run it and see that the default name is going to be pi test. 00:51.230 --> 00:55.070 So pi test is not going to be what we want okay. 00:55.100 --> 00:57.680 You see in the code it's pi test. 00:57.680 --> 00:59.510 So we need to modify this. 00:59.540 --> 01:01.310 We're not going to modify this in the code. 01:01.310 --> 01:05.090 We are going to use the remapping option from the terminal. 01:05.240 --> 01:10.040 By the way I'm just going to remove that here and save the file okay. 01:11.150 --> 01:18.090 So let's run it again this time with Ross r dash r underscore underscore. 01:18.090 --> 01:18.900 Node. 01:19.500 --> 01:21.420 And what's the name again? 01:21.420 --> 01:25.110 Custom p y. 01:25.530 --> 01:27.510 Let's press enter. 01:28.800 --> 01:29.190 Okay. 01:29.190 --> 01:31.050 Now I can start acute graph. 01:31.050 --> 01:32.730 Let's just start acute graph here. 01:32.730 --> 01:34.680 For example I could open a fifth terminal. 01:34.710 --> 01:35.700 It doesn't matter. 01:35.700 --> 01:37.620 So acute graph. 01:39.660 --> 01:40.320 Okay. 01:40.320 --> 01:42.240 So we already have the first one. 01:42.540 --> 01:46.080 The second one we're going to start the for example the C plus plus one. 01:46.080 --> 01:56.460 So ros2 run my cpp package with cpp node ros args and then dash r node. 01:56.460 --> 01:59.730 And this time the node name is a bit long. 01:59.730 --> 02:03.120 So this is a really long name for cpp node. 02:03.120 --> 02:04.530 But it works. 02:04.560 --> 02:15.870 This is a really long name for a cpp node but it works. 02:15.870 --> 02:19.320 So of course I don't recommend that you use names that long. 02:19.350 --> 02:26.510 But just to show you that, well, it works as long as you separate each word by an underscore is going 02:26.540 --> 02:27.140 to work. 02:27.830 --> 02:29.630 And you see we have the logs. 02:29.630 --> 02:32.450 So let's go back to our cut graph. 02:32.450 --> 02:33.890 And let's refresh. 02:33.890 --> 02:35.930 We have the two nodes here. 02:35.960 --> 02:36.620 Great. 02:36.650 --> 02:39.740 Now let's go to those two other nodes. 02:39.740 --> 02:42.380 You see this is the total SIM and the teleop. 02:42.380 --> 02:46.040 So the Teleop turtle is using the same name. 02:46.040 --> 02:48.050 So we won't need to rename it. 02:48.050 --> 02:50.090 But that node here. 02:50.090 --> 03:02.240 So if I run the turtle SIM Ross to run turtle sim and turtle sim node, you see that the node name is 03:02.240 --> 03:03.080 turtle sim. 03:03.290 --> 03:07.520 We can see that on our graph. 03:07.550 --> 03:08.060 Okay. 03:08.090 --> 03:12.050 And we don't want turtle sim, we want Donatello. 03:12.560 --> 03:13.100 All right. 03:13.100 --> 03:22.040 So I'm going to do Ross ags dash r node Donatello. 03:24.050 --> 03:24.650 Great. 03:24.860 --> 03:27.830 And what turtle sim window is still named turtle sim. 03:27.830 --> 03:33.260 But you see, now the node name is Donatello, which we can verify right here. 03:33.800 --> 03:36.350 And finally, we need to start the. 03:37.010 --> 03:37.950 Uh, teleop. 03:37.950 --> 03:41.790 So, ros to run turtle sim. 03:41.790 --> 03:46.320 So that's the turtle sim package, and then turtle teleop key. 03:46.350 --> 03:52.440 If you don't remember that, just press tab twice here and you can see all the nodes we can start. 03:52.440 --> 03:54.060 So we have the turtle sim node. 03:54.060 --> 03:55.830 We also have two other nodes we haven't seen. 03:55.830 --> 03:56.970 You can try them. 03:56.970 --> 03:58.920 And we have the turtle Teleop. 03:58.920 --> 04:03.810 So turtle Teleop key okay. 04:03.840 --> 04:05.760 It's working. 04:06.000 --> 04:07.590 We can even move. 04:07.590 --> 04:13.680 So I press some keys here and you can see on the turtle sim we have moved. 04:13.680 --> 04:16.710 And if I go back to my actigraph I refresh. 04:17.340 --> 04:19.590 Well that's the view. 04:19.590 --> 04:21.510 So it doesn't match exactly. 04:21.540 --> 04:25.260 I mean it's it's not exactly organized the same way. 04:25.260 --> 04:26.400 So the layout is not the same. 04:26.400 --> 04:29.070 But this is exactly the same thing. 04:29.100 --> 04:29.430 Okay. 04:29.460 --> 04:31.710 We have our two nodes here. 04:31.710 --> 04:33.960 So the CP node and the Python one. 04:33.960 --> 04:40.380 And then we have the Teleop turtle and the Donatello that are communicating with each other okay. 04:40.410 --> 04:46.170 So even if you get a layout that's a bit different it's really not a problem okay. 04:46.200 --> 04:48.450 As long as you get the same nodes, great. 04:48.450 --> 04:50.670 And that's it for this first activity.