turtlebot3_simulations/turtlebot3_gazebo

TurtleBot3

How to run TB3 in Gazebo

Setup

$ mkdir -p ~/turtlebot3_ws/src
$ cd ~/turtlebot3_ws/src
$ git clone -b ros2 https://github.com/ROBOTIS-GIT/turtlebot3.git
$ git clone -b ros2 https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
$ git clone -b ros2 https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
$ git clone -b master https://github.com/ros2/cartographer.git
$ git clone -b master https://github.com/ros2/cartographer_ros.git
$ git clone https://github.com/ros2/pcl_conversions.git
$ sudo apt install -y \
    clang \
    g++ \
    git \
    google-mock \
    libboost-all-dev \
    libcairo2-dev \
    libeigen3-dev \
    libgflags-dev \
    libgoogle-glog-dev \
    liblua5.2-dev \
    libsuitesparse-dev \
    ninja-build \
    python-sphinx \
    libpcl-conversions-dev \
    libpcl-dev \

• Install ceres-solver (http://ceres-solver.org/installation.html#linux)

• colcon build

$ cd ~/turtlebot3_ws && colcon build

Run Gazebo

$ export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/turtlebot3_ws/src/turtlebot3_simulations/turtlebot3_gazebo/models
$ cd ~/turtlebot3_ws/src/turtlebot3_simulations/turtlebot3_gazebo/worlds
$ gazebo --verbose turtlebot3_ros2_demo.world

Run teleop node

$ ros2 run turtlebot3_teleop turtlebot3_teleop_key __ns:=/tb3

Run Rviz

$ ros2 launch turtlebot3_bringup turtlebot3_robot.launch.py
$ rviz2