CLEARPATH Turtlebot4 User Manual page 116

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Test Create® 3 Button 1

Now that we are subscribed, lets test out our node by printing a message every time button 1 is

pressed.

Edit the

interface_buttons_callback

# Interface buttons subscription callback

def interface_buttons_callback(self, create3_buttons_msg: InterfaceButtons):

# Button 1 is pressed

if create3_buttons_msg.button_1.is_pressed:

self.get_logger().info('Button 1

Now every time we receive a message the one

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 --symlink-install

source

install/local_setup.bash

ROS2 topic information

function to look like this:

Pressed!')

/interface_buttons

--packages-select

turtlebot4_python_tutorials

topic we will check if button 1

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