TurtleBot is a low-cost, personal robot kit with open-source software. TurtleBot was created at Willow Garage by MeloneeWise and Tully Foote .With TurtleBot, we’ll be able to build a robot that can drive around a house, see in 3D, and have enough horsepower to create exciting applications.
Opening new Terminal (Ctrl+alt+T)
Typing the following commands
~$ cd ~/catkin_ws/src/
~$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
~$ cd ~/catkin_ws && catkin_make
Installing the independent packages for TurtleBot3 control by Entering the following commands:
~$ cd ~/catkin_ws/src/
~$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
~$ git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
~$ cd ~/catkin_ws and type catkin_make
The preparation for TurtleBot3 is done.
TurtleBot3 has three models, Burger, Waffle, and Waffle Pi (as appeared on the first picture),
- specify which model will be used (e.g. Burger)
- choosing which file in gazebo folder to simulate (e.g. empty world)
- opening the file and replacing "TURTLEBOT3_MODEL" with "burger"
- close & save
Writing the following commands to contact my own server without errors
~$ export ROS_HOSTNAME=localhost
~$ export ROS_MASTER_URI=http://localhost:11311
the following commands to lunch the turtlebot simulation
~$ roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch
Done successfully ))
Launching another Turtlebot simulation.
The simulation is to have TurtleBot3 autonomously navigate around a room and avoid crash into objects. Typing the following commands:
~$ export ROS_HOSTNAME=localhost
~$ export ROS_MASTER_URI=http://localhost:11311
~$ roslaunch turtlebot3_gazebo turtlebot3_world.launch
On new terminal
~$ roslaunch turtlebot3_gazebo turtlebot3_simulation.launch
Done successfully ))
THANK U :)