Turtlebot3的仿真环境搭建

本人电脑环境：ubuntu16.04+Ros Kinetic

1.  创建turtlebot3所在的文件夹

mkdir -p catkin_ws/src
cd catkin_ws/src

2. 安装turtlebot3依赖包

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

3.安装turtlebot3_msgs包、turtlebot3包和turtlebot3_simulation包

在src文件夹下下载源码

git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

编译

cd ..
catkin_make

4. 环境设置

设置机器人型号时可以根据需要选择burger或者waffle

echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc 
echo "source ~/turtlebot/catkin_ws/devel/setup.bash" >> ~/.bashrc

到此，就完成安装了～

验证一下

新打开一个终端

roslaunch turtlebot3_gazebo turtlebot3_world.launch 

看看仿真环境是不是可以打开啦～（PS: 第一次打开仿真环境可能需要较长的等待时间）