/turtlebot3_simulations_internship

Turtlebot3 gazebo simulation package for ROːBIT internship education.

Primary LanguageC++Apache License 2.0Apache-2.0

turtlebot3_simulations_internship

Installation

  1. Install the dependencies
$ sudo apt-get install -y ros-humble-gazebo-*
  1. Clone the repository
$ cd ~/{Your ROS 2 Workspace}/src
$ git clone https://github.com/Team-ROBIT/turtlebot3_simulations_internship.git
$ cd turtlebot3_simulations_internship
$ git submodule update --init --recursive # Not necessary if you already have the submodules
  1. Build the workspace
$ cd ~/{Your ROS 2 Workspace}
$ colcon build --symlink-install
$ source install/setup.bash
  1. Setup the environment variables
$ gedit ~/.bashrc

# Add the following line
export TURTLEBOT3_MODEL=burger # Turtlebot3 model
export ROS_DOMAIN_ID=${Your ROS 2 domain ID} # ROS 2 domain ID. Make sure not to use the same domain ID as the other person. 

source /usr/share/gazebo/setup.sh # Gazebo setup

alias killg='killall -9 gzserver && killall -9 gzclient && killall -9 rosmaster' # Kill Gazebo, Gazebo client and Ros master

Vision Turtlebot3 Launch

$ ros2 launch turtlebot3_gazebo internship_vision_turtlebot3.launch.py

vision_turtlebot3

Maze Turtlebot3 Launch

$ ros2 launch turtlebot3_gazebo internship_maze_turtlebot3.launch.py

maze_turtlebot3