TurtleBot3 실습-1

작업환경 : Ubuntu 20.04 LTS, ROS Foxy, Gazebo11 

 

기본 세팅

• SLAM 라이브러리 설치

sudo apt install ros-foxy-cartographer 
sudo apt install ros-foxy-cartographer-ros

• 내비게이션2 설치

sudo apt install ros-foxy-navigation2
sudo apt install ros-foxy-nav2-bringup

• TurtleBot3 패키지 설치

source ~/.bashrc
sudo apt install ros-foxy-dynamixel-sdk
sudo apt install ros-foxy-turtlebot3-msgs
sudo apt install ros-foxy-turtlebot3

• 환경 구성

echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc
echo 'export TURTLEBOT3_MODEL=burger' >> ~/.bashrc
source ~/.bashrc

• 워크스페이스 세팅

mkdir turtlebot3_ws/src
cd turtlebot3_ws/src

git clone -b foxy-devel <https://github.com/ROBOTIS-GIT/turtlebot3.git>
git clone -b foxy-devel <https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git>
git clone -b foxy-devel <https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git>

colcon build --symlink-install

 

 

Gazebo 구동

• 빈 세계

ros2 launch turtlebot3_gazebo empty_world.launch.py

• TurtleBot3 월드

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

Gazebo 구동

• 빈 세계

ros2 launch turtlebot3_gazebo empty_world.launch.py

• TurtleBot3 월드

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

• TurtleBot3 조작 노드

ros2 run turtlebot3_teleop teleop_keyboard

• 매핑

# Terminal 1
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py # gazebo world

# Terminal 2
ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True

 

• 맵 저장

ros2 run nav2_map_server map_saver_cli -f ~/map