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:

  1. turtlebot3

  2. turtlebot3_msgs

  3. 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.