We’ll follow the TurtleBot3 ROS 2 PC Setup instructions.Īs of this writing the Robotis instructions still follow ROS Dashing. ![]() Thankfully Robotis provides all the necessary configuration data to simulate the TurtleBot hardware. Generic hardware must be tailored for each specific robot. All the necessary actuators and sensors must provide readings to behave like the real world. sudo apt install python3-colcon-common-extensions Install Gazebo This allows us to build the TurtleBot software on your workstation. sudo apt install ros-foxy-desktop source /opt/ros/foxy/setup.bash echo "source /opt/ros/foxy/setup.bash" > ~/.bashrc Install ROS Foxy Desktop and set up the ROS environment in your Ubuntu container. If you followed instructions to install ROS in an LXD Container, use the following commands to launch a container: lxc launch -p ros ubuntu:20.04 turtlebot lxc ubuntu turtlebot While ROS can be installed directly on a Linux workstation, it can also be installed in a container or a virtual machine dedicated to the simulator. This simulator requires a standard installation of ROS Foxy. We intend to install on Foxy (the latest LTS ROS release), which drives the version requirements for the rest of the installation: Ubuntu 20.04 Focal, Gazebo 11, and the ROS 2 installation of TurtleBot3. ![]() The TurtleBot 3 WafflePi from Robotis software includes ROS code to run the robot and configuration files for Gazebo.The Gazebo simulator emulates robot hardware in software to provide input to ROS. ![]() The Robot Operating System (ROS) provides the fundamental framework for interacting with hardware and overall control of the robot.Software used for the simulation includes the robot operating system (ROS), a simulation framework (Gazebo) and the robot software (TurtleBot).
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