Ubuntu 18.04 TurtleBot3仿真环境配置

写在前面

本文默认已经装好ROS-melodic。因为ROBOTIS上的教程还是kinetic(ubuntu 16)的，所以，搬运过来并修改成melodic版本, 也算是记录了我的安装过程。

1. 安装依赖

在终端中执行

sudo apt-get install ros-melodic-joy ros-melodic-teleop-twist-joy\
ros-melodic-teleop-twist-keyboard ros-melodic-laser-proc\
ros-melodic-rgbd-launch ros-melodic-depthimage-to-laserscan\
ros-melodic-rosserial-arduino ros-melodic-rosserial-python\
ros-melodic-rosserial-server ros-melodic-rosserial-client\
ros-melodic-rosserial-msgs ros-melodic-amcl\
ros-melodic-map-server ros-melodic-move-base\
ros-melodic-urdf ros-melodic-xacro\
ros-melodic-compressed-image-transport\
ros-melodic-rqt-image-view ros-melodic-gmapping\
ros-melodic-navigation ros-melodic-interactive-markers

2. 从github安装Turtlebot3核心包

cd ~/catkin_ws/src/
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b melodic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone -b melodic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
cd ~/catkin_ws && catkin_make

3. 从github安装Turtlebot3_sim仿真环境

cd ~/catkin_ws/src/
git clone -b melodic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
cd ~/catkin_ws && catkin_make

4. 指定Turtlebot3型号

Turtlebot3目前有三种型号，仿真时需要环境变量中存在TURTLEBOT3_MODEL=${MODEL}，其中${MODEL}可以是burger, waffle, waffle_pi。将其加入~/.bashrc文件中方便日后使用。
以burger为例：

echo "export TURTLEBOT3_MODEL=burger" >>  ~/.bashrc

5. Hello World

1) 空空如也的世界：

roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch

空空如也的世界

1) TurtleBot3自带的世界：

roslaunch turtlebot3_gazebo turtlebot3_world.launch

TurtleBot3自带的世界