Post #2

After setting up our workspace we started adding turtles and experimenting with commands like /spawn and /set_pen. From this, we learned the equivalent of methods can be run in rqt. We practiced messing with different methods learning what they did including set_pen which must be run on a particular turtle to adjust the turtle's trail width and color to an extent. We learned how to create nodes such that they would publish and subscribe to data about a topic. The process was relatively easy and taught us about entry points. Overall, creating the ‘talker’ and ‘listener’ entry points was the most valuable part of the lab and gave us an understanding of how we could allow nodes to communicate in the future. In addition to creating nodes that can publish and subscribe, we also learned about services. For a service, there is a client node that sends a request and there is a node that responds to the service which is the service node. Understanding how to create and use services was another valuable aspect of the lab.