In this section you’ve discovered 2 important tools you’ll use for any ROS 2 application you develop: the ros2 cli (Command Line Interface), and rqt with all its plugins. During the course you’ll continue to practice with those tools, and you’ll discover more of them.

You also discovered the Turtlesim package, containing a simplified 2D robot, which will be very useful to apply what you learn throughout the course.

So, with the last section on nodes + the activities from this section, you already have a good foundation and you can:

• Create a custom node in your own package (Python and Cpp)

• Compile and run your nodes

• Launch and debug your nodes with different tools

• Run existing nodes from other packages

Now, the next logical step is to see how those nodes can communicate between each other. And… That’s just what’s coming in the next section on ROS 2 Topics.