Simulating the Turtlebot3 Robot
3.3 هزار بار بازدید -
4 سال پیش
-
Interested in getting started in
Interested in getting started in robotics? There's no need to spend $1000+ just to try some things out. Simulate a TurtleBot3 instead! It's complete with LIDAR, a camera, a gyro and many other sensors and actuators.
See the Ubuntu blog for more details on the installation used in this video, https://ubuntu.com/blog/simulate-the-...
To install ROS in a LXD container, following the video instructions Install ROS in an LXD Container, use these commands to launch:
lxc launch -p ros ubuntu:20.04 turtlebot
lxc ubuntu turtlebot
From a running Ubuntu installation with the ROS installation sources configured, install ROS with these commands (replace curly brackets with angled brackets):
sudo apt install ros-foxy-desktop
source /opt/ros/foxy/setup.bash
echo "source /opt/ros/foxy/setup.bash" }} ~/.bashrc
sudo apt install python3-colcon-common-extensions
Use this command to install gazebo:
sudo apt install gazebo11 ros-foxy-gazebo-ros-pkgs
To build the TurtleBot3 and install from source, follow the TurtleBot3 ROS 2 PC Setup instructions with some updates for Foxy + Gazebo 11, https://emanual.robotis.com/docs/en/p... (replace curly brackets with angled brackets):
sudo apt install python3-vcstool
mkdir -p ~/turtlebot3_ws/src
cd ~/turtlebot3_ws
wget https://raw.githubusercontent.com/ROB...
vcs import src { turtlebot3.repos
colcon build --symlink-install
echo 'source ~/turtlebot3_ws/install/setup.bash' }} ~/.bashrc
Finish the installation by setting two additional environment variables (replace curly brackets with angled brackets):
echo 'export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/turtlebot3_ws/src/turtlebot3/turtlebot3_simulations/turtlebot3_gazebo/models' }} ~/.bashrc
echo 'export TURTLEBOT3_MODEL=waffle_pi' }} ~/.bashrc
source ~/.bashrc
Launch the simulator following the TurtleBot 3 simulation instructions https://emanual.robotis.com/docs/en/p...
ros2 launch turtlebot3_gazebo empty_world.launch.py
ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py
Use ROS commands either on the same host or on another host connected to the same network to explore your simulator.
ros2 topic list
ros2 service list
ros2 topic pub /cmd_vel geometry_msgs/Twist '{linear: {x: 1.0}}' -1
ros2 topic pub /cmd_vel geometry_msgs/Twist '{linear: {x: 0.0}}' -1
ros2 run turtlebot3_teleop teleop_keyboard
If you try to control a simulated TurtleBot3 from another machine and it doesn't seem to be working, check the `ROS_DOMAIN_ID` environment variable.
––––––––––––––––––––––––––––––
Soundtrack:
Breathe by Axl & Arth SoundCloud: axlarth
Creative Commons — Attribution-ShareAlike 3.0 Unported— CC BY-SA 3.0
Free Download / Stream: https://bit.ly/breathe-feat-dimi-marc
Music promoted by Audio Library Breathe (feat Dimi Marc) – Axl & Arth...
See the Ubuntu blog for more details on the installation used in this video, https://ubuntu.com/blog/simulate-the-...
To install ROS in a LXD container, following the video instructions Install ROS in an LXD Container, use these commands to launch:
lxc launch -p ros ubuntu:20.04 turtlebot
lxc ubuntu turtlebot
From a running Ubuntu installation with the ROS installation sources configured, install ROS with these commands (replace curly brackets with angled brackets):
sudo apt install ros-foxy-desktop
source /opt/ros/foxy/setup.bash
echo "source /opt/ros/foxy/setup.bash" }} ~/.bashrc
sudo apt install python3-colcon-common-extensions
Use this command to install gazebo:
sudo apt install gazebo11 ros-foxy-gazebo-ros-pkgs
To build the TurtleBot3 and install from source, follow the TurtleBot3 ROS 2 PC Setup instructions with some updates for Foxy + Gazebo 11, https://emanual.robotis.com/docs/en/p... (replace curly brackets with angled brackets):
sudo apt install python3-vcstool
mkdir -p ~/turtlebot3_ws/src
cd ~/turtlebot3_ws
wget https://raw.githubusercontent.com/ROB...
vcs import src { turtlebot3.repos
colcon build --symlink-install
echo 'source ~/turtlebot3_ws/install/setup.bash' }} ~/.bashrc
Finish the installation by setting two additional environment variables (replace curly brackets with angled brackets):
echo 'export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/turtlebot3_ws/src/turtlebot3/turtlebot3_simulations/turtlebot3_gazebo/models' }} ~/.bashrc
echo 'export TURTLEBOT3_MODEL=waffle_pi' }} ~/.bashrc
source ~/.bashrc
Launch the simulator following the TurtleBot 3 simulation instructions https://emanual.robotis.com/docs/en/p...
ros2 launch turtlebot3_gazebo empty_world.launch.py
ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py
Use ROS commands either on the same host or on another host connected to the same network to explore your simulator.
ros2 topic list
ros2 service list
ros2 topic pub /cmd_vel geometry_msgs/Twist '{linear: {x: 1.0}}' -1
ros2 topic pub /cmd_vel geometry_msgs/Twist '{linear: {x: 0.0}}' -1
ros2 run turtlebot3_teleop teleop_keyboard
If you try to control a simulated TurtleBot3 from another machine and it doesn't seem to be working, check the `ROS_DOMAIN_ID` environment variable.
––––––––––––––––––––––––––––––
Soundtrack:
Breathe by Axl & Arth SoundCloud: axlarth
Creative Commons — Attribution-ShareAlike 3.0 Unported— CC BY-SA 3.0
Free Download / Stream: https://bit.ly/breathe-feat-dimi-marc
Music promoted by Audio Library Breathe (feat Dimi Marc) – Axl & Arth...
4 سال پیش
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