gazebo 설치, turtlebot simulation
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