공학/ROS
WSL2 + ROS2 [Simulation_turtlebot3 - Gazebo]
범슐랭
2023. 2. 23. 12:53
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Simulation_turtlebot3 - Gazebo
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
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
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