ROS2 Basics

Experiment 03 - Run ROS2 Topic Communication Nodes

This experiment performs a dialogue test by running two ROS2 topic nodes simultaneously.

Experiment steps:

1) Manual testing:

Open two new terminals.

Terminal 1:

cd ros2_ws
source install/setup.bash
ros2 run arm_demo dialog_terminal --ros-args -p username:=alice -p mode:=interactive -p topic_name:=/chat

Terminal 2:

cd ros2_ws
source install/setup.bash
ros2 run arm_demo dialog_terminal --ros-args -p username:=bob -p mode:=interactive -p topic_name:=/chat

Now manually enter messages in the two terminals to conduct a topic-based dialogue:

2. Automated testing:

Open a terminal and enter:

cd ros2_ws
source install/setup.bash
ros2 launch arm_demo topic_dialog.launch.py