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

Use the following instructions to see if the installation of PKG is complete
1. Determine the ROS release version
2. gazebo simulation
3. Learn some tips about this on YouTube

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

4 May 2022, 12:56 | Views: 162

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