Foreword
Because I do Chapter 789 turtlebot3 practice before the use of the "ros robot programming practice," the book, turtlebot3 using a laser radar sensor, 12 chapters inspection robot uses a depth camera, all helpless and had to install a turtlebot first generation to experiment.
ROS: Kinetic
Ubuntu: 16.04.6
Gazebo: 7.0.0
Installation turtlebot
Thanks in advance under predecessors, reference loaded gazebo and turtlebot
Foreword
The gazebo is the best version 7.0, or install turtlebot_simulator error.
Enter the following:
gazebo -v
Check gazebo version, I was 7.0.0, the version to drop the reference link above.
Download turtlebot
indigo version ros:
sudo apt-get install ros-indigo-turtlebot ros-indigo-turtlebot-apps ros-indigo-turtlebot-interactions ros-indigo-turtlebot-simulator ros-indigo-kobuki-ftdi ros-indigo-rocon-remocon ros-indigo-rocon-qt-library ros-indigo-ar-track-alvar-msgs
kinetic version ros:
sudo apt-get install ros-kinetic-turtlebot ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-interactions ros-kinetic-turtlebot-simulator ros-kinetic-kobuki-ftdi
sudo apt-get install ros-kinetic-rocon-*
Configuration Environment
echo "source /opt/ros/kinetic/setup.bash" >>~/.bashrc
source ~/.bashrc
Where the kinetic into your ros version, kinetic paper-based.
Update ros
rosdep update
This step is very important, update website update is not stable, and often fail, here recommend using a mobile phone hot spot. Here is the order just downloaded ros package, without words it possible to load gazebo model has been stuck in preparing the world interface.
Add gazebo model
! ! ! This step is very important, otherwise the model is loaded gazebo has been stuck in preparing the world interface.
All models to download this https://bitbucket.org/osrf/gazebo_models/downloads/ gazebo, and then in the directory ~ press ctrl + h to display hidden files:
into .gazebo in. Creating models folder, and then just extract the downloaded file to the folder:
Start simulation environment
roslaunch turtlebot_gazebo turtlebot_world.launch
Data reading sensor
rostopic echo scan -n 1
In the operation of the robot rviz
Load the world map
roslaunch turtlebot_gazebo turtlebot_world.launch
In the display rviz
roslaunch turtlebot_rviz_launchers view_robot.launch --screen
DepthCloud Options
Display depth camera data
Image Options
Display depth picture or picture rgb
Select the topic to the depth of the picture:
Select the topic for the rgb topic:
Plan view:
