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Where is turtlesim_node inside the turtlesim package?

asked 2015-07-17 15:51:54 -0600

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?

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answered 2015-07-17 17:06:48 -0600

updated 2015-07-17 17:09:26 -0600

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).

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Asked: 2015-07-17 15:51:54 -0600

Seen: 6,068 times

Last updated: Jul 17 '15