ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Where is turtlesim_node inside the turtlesim package?

asked 2015-07-17 15:51:54 -0500

Wesley gravatar image

As an exercise, I was looking through the turtlesim package to get a better understanding of the package structures. However, I could not find any references to turtlesim_node or turtle_teleop_key inside the package, even though I know they are in the package by double tabbing to autocomplete a rosrun command. Where are these nodes?

edit retag flag offensive close merge delete


@Wesley , did you get answer of ur question ? I also could not find turtlesim_node or turtle_teleop_key inside the package .

ga gravatar image ga  ( 2023-06-23 01:55:55 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted

answered 2015-07-17 17:06:48 -0500

updated 2015-07-17 17:09:26 -0500

Depending on how you have installed ROS and particularly turtlesim package, the binaries may be in various places.

  1. If ROS (including turtlesim, i.e. ROS Desktop Full option) is installed from deb-packages then it will be in /opt/ros/<ros_distro_name>/lib/turtlesim/
  2. If from source (again, as Desktop Full), then it will be in install space, e.g. ~/ros_catkin_ws/install_isolated/lib/turtlesim/
  3. Finally, if turtlesim is installed as a separated package from source, then the binaries could be either in your development space or install space (if you did catkin_make install), e.g. ~/catkin_ws/devel/lib/turtlesim/ or ~/catkin_ws/install/lib/turtlesim/

As for the source code of turtlesim_node, it is comprised of several source files. You can find the list of these files in package's CMakeLists.txt file. Similarly, you can find there build command for turtle_teleop_key.

Also turtlesim is a part of ros_tutorials metapackage (see this wiki page), so the package folder is actually nested in ros_tutorials/turtlesim.

P.S. I am assuming you are on Ubuntu with recent version of ROS (at least Groovy).

edit flag offensive delete link more

Question Tools

1 follower


Asked: 2015-07-17 15:51:54 -0500

Seen: 6,771 times

Last updated: Jun 23 '23