Assignment 1: Running Nodes: Listener and Talker

Try to run these two nodes in two different terminal, and see what will happen.

ros2 run demo_nodes_py listener

ros2 run demo_nodes_cpp talker

Then, explain the rqt graph below:

• We are running what nodes from what packages?
• The two nodes are communicating with each other through which topic?
• Which node is receiving messages and which node is sending messages through the topic? Which node is a "subscriber"? Which node is a "publisher"?