- Install ROS Kinetic on Ubuntu 16.04.
- Create a catkin workspace:
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
- Build workspace:
cd ~/catkin_ws
catkin_make
source devel/setup.bash
- Clone this Repo inside ~/catkin_ws/src:
cd ~/catkin_ws/src
git clone https://github.com/ixLikro/master-robotics-rospy.git
- Do you want to work with gazebo and turtlebot3? Then install ros dependencies and clone some turtlebot3 repository:
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
cd ~/catkin_ws/src
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
For more information see here or the eManuel
- Build again:
cd ~/catkin_ws
catkin_make
After a successful build you can start nodes. For Example the hello world turtle Example:
Run in individual Terminals:
roscore
rosrun turtlesim turtlesim_node
rosrun hello_world Turtle_draw_house.py
Or a gazebo maze simulation (individual Terminals):
roscore
roslaunch maze maze2.launch
Optional: Robot tries to solve the maze autonomous
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
Optional: Visualize the senor Data by rviz
export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_gazebo turtlebot3_gazebo_rviz.launch
Optional: Drive Robot with W A S D
roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch