Ubuntu 18.04 LTS+Melodic ROS Configuration TurtleBot 3+Running gazebo Simulation

1. Determine the ROS release version

In the ROS wiki search (or google)turtlebot install, there will be the installation method website as follows.

link:http://wiki.ros.org/turtlebot/Tutorials/indigo/Turtlebot%20Installation

If your ROS is not an indigo version, click the turtlebot hyperlink in Figure 1:

Figure 1

Will enter this page, link: http://wiki.ros.org/action/show/Robots/TurtleBot?action=show&redirect=TurtleBot

The following is about the installation of PKG for TURTLEBOT3 and 2. Take the installation of PKG for example, as shown in Figure 2.

                                                               

Figure 2

Install these PKG in turn. Take the first turtlebot3 PKG as an example, click on the hyperlink, as shown in Figure 3.

image widget

Figure 3

Click dependencies on the right to view dependencies, click on dependencies to install all the dependencies before continuing to install turtlebot3. The difference here is that you click Source in the lower left corner; Git https://github.com/ROBOTIS-GIT/turtlebot3.git All dependency packages are found on github, so you can install them in batches directly using the following commands

cd ~/catkin_ws/src
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git

After downloading, you can choose to install in the current directory using the following commands:

cd ~/catkin_ws
catkin_make
source ./devel/setup.bash

image widget or, because this is a commonly used package, you can put it in the PKG of the ROS library to see the location of the PKG as follows

$ echo $ROS_PACKAGE_PATH
/home/simileciwh/catkin_ws/src:/opt/ros/melodic/share

Use ":" to indicate that the current environment has two ROS package paths, and / opt/ros/melodic/share is the default path of the system ROS, which is installed by following instructions

sudo su
#Enter root password
cd ~/catkin_ws/src
cp -r <"Just downloaded turtlebot3 Name of package"> /opt/ros/melodic/share

Use the following instructions to see if the installation of PKG is complete. As shown below, even if the installation is over, you can run the node directly using roslaunch or rosrun.

$ rospack list
turtlebot3_automatic_parking /opt/ros/melodic/share/turtlebot3_applications-master/turtlebot3_automatic_parking
turtlebot3_automatic_parking_vision /opt/ros/melodic/share/turtlebot3_applications-master/turtlebot3_automatic_parking_vision
turtlebot3_autorace_camera /opt/ros/melodic/share/turtlebot3_autorace-master/turtlebot3_autorace_camera
turtlebot3_autorace_control /opt/ros/melodic/share/turtlebot3_autorace-master/turtlebot3_autorace_control
turtlebot3_autorace_core /opt/ros/melodic/share/turtlebot3_autorace-master/turtlebot3_autorace_core
turtlebot3_autorace_detect /opt/ros/melodic/share/turtlebot3_autorace-master/turtlebot3_autorace_detect
turtlebot3_bringup /opt/ros/melodic/share/turtlebot3-master/turtlebot3_bringup
turtlebot3_description /opt/ros/melodic/share/turtlebot3-master/turtlebot3_description
turtlebot3_example /opt/ros/melodic/share/turtlebot3-master/turtlebot3_example
turtlebot3_fake /opt/ros/melodic/share/turtlebot3_simulations-master/turtlebot3_fake
turtlebot3_follow_filter /opt/ros/melodic/share/turtlebot3_applications-master/turtlebot3_follow_filter
turtlebot3_follower /opt/ros/melodic/share/turtlebot3_applications-master/turtlebot3_follower
turtlebot3_gazebo /opt/ros/melodic/share/turtlebot3_simulations-master/turtlebot3_gazebo
turtlebot3_msgs /opt/ros/melodic/share/turtlebot3_msgs-master
turtlebot3_navigation /opt/ros/melodic/share/turtlebot3-master/turtlebot3_navigation
turtlebot3_panorama /opt/ros/melodic/share/turtlebot3_applications-master/turtlebot3_panorama
turtlebot3_slam /opt/ros/melodic/share/turtlebot3-master/turtlebot3_slam
turtlebot3_teleop /opt/ros/melodic/share/turtlebot3-master/turtlebot3_teleop

Note that some PKG installation methods are linked to the corresponding github, according to the author's way, do not blindly use the appeal method.

If the relevant node running turtlebot3 directly at this time will prompt "no model is selected for turtlebot3" and configure it through the following instructions:

export TURTLEBOT3_MODEL=<stay burger,waffle,waffle_pi Choose one of the three. Generally, we choose one. burger>
#commond-line like this:
$ export TURTLEBOT3_MODEL=burger

2. gazebo simulation

2.1 Installation of gazebo

link:http://gazebosim.org/tutorials/?tut=ros_wrapper_versions
As shown in Figure 4,

Figure 4

Click on the figure installing gazebo_ros_pkgs to enter, link: http://gazebosim.org/tutorials?tut=ros_installing&cat=connect_ros

Follow the steps to install. Note that it is best to install in the form of a source.

After the test is basically completed, the gazebo_ros simulation can be run with the following commands.

$ roslaunch turtlebot3_gazebo turtlebot3_world.launch
#Be careful to run roscore first

The first run of gazebo simulation will take a long time to open or fail. Please be patient and try several times more.

3. Learn some tips about this on YouTube

link:https://www.youtube.com/watch?v=DLVyc9hOvk8&list=PLJNGprAk4DF5PY0kB866fEZfz6zMLJTF8&index=4

Tags: git github Google sudo

Posted on Sun, 16 Dec 2018 02:36:03 -0500 by hubbardude