Let us implement our learnings on Turtlesim!

ros2 run turtlesim turtlesim_node

<aside> 💡 If you do not have turtlesim installed (already), run sudo apt install ros-humble-turtlesim to install the necessary package globally. Then, source the bashrc file in all the opened terminals.

</aside>

Now, let’s see how the two nodes are communicating amongst each other using rqt_graph

Three exciting things are happening in this screenshot!! Turtlesim Node, its teleoperation node, and the graph node to visualize the communication!