Simulation

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Troubleshootings

1. Resource not found: gazebo_ros. This is probably due to the fact that, I install npm for threejs, it contradicts with some packages of ros.
   • sudo apt-get install ros-{version}-gazebo-ros-pkgs ros-{version}-gazebo-ros-control
2. ERROR: cannot launch node of type [rviz/rviz]: rviz
   • sudo apt install ros-{version}-rviz
3. ERROR: cannot launch node of type [robot_state_publisher/robot_state_publisher]: robot_state_publisher
   • sudo apt install ros-{version}-robot-state-publisher
4. ERROR: cannot launch node of type [gmapping/slam_gmapping]: gmapping
   • sudo apt install ros-{version}-gmapping

Empty World with Manual control

Primary Steps

1. Initiate ROS system.roscore
2. Call the gazebo simulation world.roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch
3. Set up the behaviors of robot. roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch
4. Visualize published topics while simulation is running. roslaunch turtlebot3_gazebo turtlebot3_gazebo_rviz.launch

TurtleBot3 World

Replace the 2nd step with roslaunch turtlebot3_gazebo turtlebot3_world.launch.

TurtleBot3 House

Replace the 2nd step with roslaunch turtlebot3_gazebo turtlebot3_house.launch.

TurtleBot3 Collision Avoidance

Replace the 3rd step with roslaunch turtlebot3_gazebo turtlebot3_simulation.launch.

Virtual SLAM

Replace the 4th step with roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping.

References

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1. ROBOTIS e-Manual TurtleBot3