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gazebo 설치, turtlebot simulation 본문

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gazebo 설치, turtlebot simulation

sunlab 2019. 10. 1. 17:46
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ros kinetic 을 설치하면 gazebo는 같이 설치된다.

 

http://emanual.robotis.com/docs/en/platform/turtlebot3/pc_setup/#install-ubuntu-on-remote-pc

 

ROBOTIS e-Manual

 

emanual.robotis.com

 

여기서 터틀봇과 관련한 ros packages를 설치해준다. 6.1.3 항목

 

사용할 모델을 설정해준다. burger, waffle, waffle_pi

$ export TURTLEBOT3_MODEL=waffle

 

$ roslaunch turtlebot3_gazebo turtlebot3_world.launch

- 터틀봇과 거북이모양 맵 띄움

$ roslaunch turtlebot3_gazebo turtlebot3_simulation.launch

- 벽보고 피하는 컨트롤러 실행

 

 

+ ros gazebo pkgs

http://gazebosim.org/tutorials?tut=ros_installing

 

Gazebo : Tutorial : Installing gazebo_ros_pkgs (ROS 1)

Introduction The set of ROS packages for interfacing with Gazebo are contained within a new meta package (catkin's version of stacks) named gazebo_ros_pkgs. See Overview of new ROS integration for background information before continuing here. These instru

gazebosim.org

sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control

 

+ robotis 에서 turtlebot simulation pkg 찾아서 설치

turtlebot simulation pkg - turtlebot3_gazebo