CLEARPATH Turtlebot4 User Manual page 103

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Now every time we receive a message on the

/interface_buttons

topic we will check if button 1

is pressed, and if it is then the node will print a message.

To test this out, we will need to build our package using colcon:

~/turtlebot4_ws

colcon build

--packages-select

turtlebot4_cpp_tutorials

source

install/local_setup.bash

The

--packages-select

flag allows you to enter any number of packages that you want to build,

in case you don't want to build all packages in your workspace.

Now, try running the node:

ros2 run turtlebot4_cpp_tutorials turtlebot4_first_cpp_node

When you run it, nothing will happen until you press button 1 on your TurtleBot 4.

Press the button, and you should see this message in your terminal:

[INFO] [1652379086.090977658] [turtlebot4_first_cpp_node]: Button 1 Pressed!

Tip

Printing messages like this is a great way to debug your code.

Create a lightring publisher

Now that we can receive a button press, lets create a lightring publisher.

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