ROS2 topic information
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 function to look like this:
# 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 Pressed!')
Now every time we receive a message the one /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:
cd ~/turtlebot4_ws
colcon build --symlink-install --packages-select turtlebot4_python_tutorials
source install/local_setup.bash
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