1.5 Commandline topics

One of the core nodes on MIRTE is the mirte_telemetrix node. That node is constantly communicating with the microcontroller to get the latest sensordata, and control the motors. So we first need to start that node:

mirte$ ros2 launch mirte_telemetrix telemetrix.launch

info

This node migth already be running. You can check this with:

$ ros2 node list

As in the previous section, you can check which nodes are running, and confirm that the node is running. But you can also see the data from the ultrasonic sensors coming in:

---
header:
  stamp:
    sec: 1715654039
    nanosec: 122178037
  frame_id: ''
radiation_type: 0
field_of_view: 15.707962989807129
min_range: 0.019999999552965164
max_range: 1.5
range: 8.0
---

mirte$ ros2 topic echo /io/distance/left

At one of the lines, you can see the distance measured by the sensor in cm. You can also get some other information (like bandwidth used, update frequency, message type, and delay). You can see the full list op options:

mirte$ ros2 topic -h