[자율주행][Simulation-Gazebo] leecar - 1.Create a Workspace (환경설정)

Env

H.W	OS
Laptop - CPU : AMD Ryzen 9 5900HS with Radeon Graphics 3.30 GHz - RAM : 16GB - GPU : 3050Ti	Windows 11 & WSL2 ROS2 foxy

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1. Create a Workspace

mkdir -p ~/leecar_ws/src

2. Resolve Package Dependencies

cd leecar_ws

sudo apt upate

sudo apt update 진행중

sudo apt install python3-colcon-common-extensions

colcon build

colcon build 실행

3. Source the Workspace

# sudo apt-get install gedit
gedit ~/.bashrc

# 아래의 경로를 추가, Add
source ~/leecar_ws/install/setup.bash
source /opt/ros/foxy/setup.bash

# 경로 추가 후, 업데이트
source ~/.bashrc

 

 

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작업 공간 생성

ros2 pkg create --build-type ament_cmake leecar_ws

ros2 pkg create --build-type ament_python leecar_ws

ros2 pkg create --build-type ament_python leecar_ws --dependencies rclpy image_transport cv_bridge sensor_msgs std_msgs opencv2

---

- 빌드

cd ~/dev_ws/

colcon build

# 또는
colcon build --packages-select leecar_ws

---

ROS 2 Navigation

 

- Install & Build Nav2

sudo apt install ros-foxy-navigation2

sudo apt install ros-foxy-nav2-bringup

sudo apt install ros-foxy-turtlebot3*

sudo apt install ros-foxy-nav2-simple-commander

Build and Install — Navigation 2 1.0.0 documentation

---

mkdir -p ~/nav2_ws/src

cd ~/nav2_ws/src

git clone <https://github.com/ros-planning/navigation2.git> --branch foxy-devel

cd ~/nav2_ws

rosdep install -y -r -q --from-paths src --ignore-src --rosdistro foxy

cd ~/nav2_ws

rosdep install -y -r -q --from-paths src --ignore-src --rosdistro foxy

colcon build --symlink-install
# 시간좀 오래 걸림

gedit ~/.bashrc

# 이걸 맨 아래에 붙여 넣기
source ~/nav2_ws/install/setup.bash
export TURTLEBOT3_MODEL=waffle
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/foxy/share/turtlebot3_gazebo/models
source /usr/share/gazebo/setup.sh

cd ~/nav2_ws

colcon build

 

 

- Test Your Installation

cd ~/nav2_ws

ros2 launch nav2_bringup tb3_simulation_launch.py

 

- Install the SLAM Toolbox

sudo apt install ros-foxy-slam-toolbox

cd ~/nav2_ws

- 실행

ros2 launch nav2_bringup slam_launch.py

- 실행

ros2 launch nav2_bringup tb3_simulation_launch.py

# or

ros2 launch nav2_bringup tb3_simulation_launch.py slam:=True