ros2与turtlebot3仿真教程-安装turtlebot3

  系列文章目录

• ros2与turtlebot3仿真教程-目录
• ros2与turtlebot3仿真教程-安装ros2
• ros2与turtlebot3仿真教程-安装turtlebot3
• ros2与turtlebot3仿真教程-启动gazebo不同环境
• ros2与turtlebot3仿真教程-turtlebot3遥控
• ros2与turtlebot3仿真教程-turtlebot3自走避障
• ros2与turtlebot3仿真教程-rviz2模型显示
• ros2与turtlebot3仿真教程-turtlebot3建图
• ros2与turtlebot3仿真教程-turtlebot3导航

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说明：

• 介绍如何在ros2安装turtlebot3

步骤：

• 下载编译

$ mkdir -p ~/tb3_ws/src
$ cd ~/tb3_ws
#foxy版本
$wget https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/foxy-devel/turtlebot3.repos

#galactic版本
#$ wget https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/galactic-devel/turtlebot3.repos

$ vcs import src < turtlebot3.repos
$ colcon build --symlink-install

• 添加环境变量

$ echo 'source ~/tb3_ws/install/setup.bash' >> ~/.bashrc
$ echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc
$ source ~/.bashrc