The software packages for the TurtleBot 3 simulation will reside on the remote computer or any other desktop/laptop computer capable of running Gazebo simulations. This computer should be loaded with Ubuntu 16.04 and ROS Kinetic, as described in the Installing and launching ROS section in Chapter 1, Getting Started with ROS.
To begin, open a terminal window and type the following commands:
$ 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
If you have not created a catkin workspace, refer to the Creating a catkin workspace section in Chapter 1, Getting Started with ROS.
For loading the TurtleBot 3 simulation software, we will also load all of the ROS catkin workspace packages developed for the TurtleBot 3 remote computer. We found that it was necessary to load both the remote computer software packages for the real TurtleBot 3 along with the simulation software package.
Type the following commands to load and compile these packages:
$ cd ~/catkin_ws/src/ $ git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git $ git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git $ git clone https://github.com/ROBOTIS-GIT/turtlebot3.git $ cd ~/catkin_ws $ catkin_make
Directories for turtlebot3, turtlebot3_msgs, and turtlebot3_simulations are created under the src directory of the catkin workspace. The turtlebot3_simulations directory contains the turtlebot3_fake package that is the TurtleBot 3 simulation in rviz. The turlebot3_gazebo package is also in the turtlebot3_simulations directory. This package contains the software for the TurtleBot 3 Gazebo simulation.
Note
When running TurtleBot 3 simulations in rviz and Gazebo, the environment variables should be set to return ROS control to your local computer. Use the following commands in every new window that is used or include them in a script file that is run when a new window is open:
$ export ROS_MASTER_URI=http://localhost:11311 $ export ROS_HOSTNAME=localhost