TurtleBot3

ROS Packages for TurtleBot3 Simulations

Version	Kinetic + Ubuntu Xenial	Melodic + Ubuntu Bionic

ROBOTIS e-Manual for TurtleBot3

• ROBOTIS e-Manual for TurtleBot3

Wiki for turtlebot3_simulations Packages

• http://wiki.ros.org/turtlebot3_simulations (metapackage)
• http://wiki.ros.org/turtlebot3_fake
• http://wiki.ros.org/turtlebot3_gazebo

Open Source related to TurtleBot3

• turtlebot3
• turtlebot3_msgs
• turtlebot3_simulations
• turtlebot3_applications_msgs
• turtlebot3_applications
• turtlebot3_autorace
• turtlebot3_deliver
• hls_lfcd_lds_driver
• open_manipulator_msgs
• open_manipulator
• open_manipulator_simulations
• open_manipulator_perceptions
• open_manipulator_with_tb3_msgs
• open_manipulator_with_tb3
• open_manipulator_with_tb3_simulations
• dynamixel_sdk
• dynamixel_workbench
• OpenCR-Hardware
• OpenCR

Documents and Videos related to TurtleBot3

• ROBOTIS e-Manual for TurtleBot3
• ROBOTIS e-Manual for OpenManipulator
• ROBOTIS e-Manual for Dynamixel SDK
• ROBOTIS e-Manual for Dynamixel Workbench
• Website for TurtleBot Series
• e-Book for TurtleBot3
• Videos for 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 release-latest https://github.com/ros2/cartographer.git
$ git clone -b release-latest https://github.com/ros2/cartographer_ros.git
$ git clone https://github.com/ros2/pcl_conversions.git
$ sudo apt install libpcl-conversions-dev libpcl-dev
$ cd ~/turtlebot3_ws && colcon build

Run

$ 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