WSL2 + ROS2 [Simulation_turtlebot3 - Gazebo]

Simulation_turtlebot3 - Gazebo

• 출처
• ROBOTIS e-Manual

Install ROS on PC

wget <https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros2_foxy.sh>
sudo chmod 755 ./install_ros2_foxy.sh
bash ./install_ros2_foxy.sh

Install Dependent ROS 2 Packages

sudo apt-get install ros-foxy-gazebo-*

sudo apt install ros-foxy-cartographer
sudo apt install ros-foxy-cartographer-ros

sudo apt install ros-foxy-navigation2
sudo apt install ros-foxy-nav2-bringup

Install TurtleBot3 Packages

source ~/.bashrc
sudo apt install ros-foxy-turtlebot3-msgs
sudo apt install ros-foxy-turtlebot3

Environment Configuration

echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc
source ~/.bashrc

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• 출처
• ROBOTIS e-Manual

Install Simulation Package

cd ~/turtlebot3_ws/src/
git clone -b foxy-devel <https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git>
cd ~/turtlebot3_ws && colcon build --symlink-install

Launch Simulation Package

export TURTLEBOT3_MODEL=burger
ros2 launch turtlebot3_gazebo empty_world.launch.py

 

문제 발생시 해결 방법

: https://lbj142632.tistory.com/8