Setup Turtlebot3¶
cd ~/navigation2_ws/src
wget https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/ros2/turtlebot3.repos
vcs import src < turtlebot3.repos
Now, go to the three packages inside the src/turtlebot3 folder:
turtlebot3
turtlebot3_msgs
turtlebot3_simulation
and git checkout
to the foxy-devel
branch in each of the three repos. Now build your workspace.
cd ~/navigation2_ws
colcon build --symlink-install
After your workspace is built, we have make sure that the turtlebot3 is correctly setup.
export TURTLEBOT3_MODEL=waffle
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/navigation2_ws/src/turtlebot3/turtlebot3_simulations/turtlebot3_gazebo/models
try:
ros2 launch turtlebot3_gazebo empty_world.launch.py
–or–
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py
You should be able to see turtlebot3 spawn in gazebo.