Simulates a gazebo intersection using turtlebot3.
Tutorial can be found at http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment
https://emanual.robotis.com/docs/en/platform/turtlebot3/setup/#setup https://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/#ros-1-simulation
First install the turtlebot3 dependencies
sudo apt-get install ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation ros-kinetic-interactive-markers
Clone turtlebot3 and the turtlebot3 simulations into the workspace
cd ~/(your workspace)/src/
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b kinetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
cd ~/(your workspace)
catkin_make
Clone and run catkin make
cd ~/(your workspace)/src/
git clone https://github.com/nicoloporcu/intersection_simulations.git
cd ~/(your workspace)
catkin_make
Export the turtlebot model (burger, waffle, or waffle pi) that you want to use.
export TURTLEBOT3_MODEL=burger
To make your choice permanent, add this line to your ~/.bashrc
Then launch the turtlebot model in a world. For example, to run a turtlebot on a stop intersection:
roslaunch intersection_simulation intersection.launch
To launch three turtlebots in a stop intersection, run:
roslaunch intersection_simulation intersection3turtlebot.launch