3. A minimal example

In this chapter we will guide you through the steps to get a minimal example of ROS working on your computer. During this process, you will learn about ROS’s shell environment, and you will be introduced to the Command Line Interface (CLI), and see a common ROS tutorial program, turtlesim.

By getting a small taste of using ROS in practice, it will be easier to understand the discussion in the next chapter on ROS 2 core concepts and design patterns.