Setting up Turtlebot3

Turtlebot3 is only available in ROS Kinetic and ROS Melodic

The installation methods for ROS Kinetic and ROS Melodic are different:

Download & Install Turtlebot3 Package

Please choose only one from the following installation method according to your environment 只从下列两种安装中，根据你的系统环境选择一种

• ROS Kinetic (Ubuntu 16.04)

sudo apt install ros-kinetic-turtlebot3-*
cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash
rospack profile

• ROS Melodic (Ubuntu 18.04)

cd ~/catkin_ws/src
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_autorace.git
cd ..
rosdep install --from-paths src -i -y
catkin_make
source ~/catkin_ws/devel/setup.bash
rospack profile

Turtlebot3 Model Config

There are two kinds of model for Turtlebot3. If you don’t choose one of them, the program will not run. For general purpose, we choose to use “burger” model.

echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc
source ~/.bashrc

Close 3D acceleration

if you are using Ubuntu in Virtual Machine

You dont’t have to do so if you are using native Ubuntu

echo "export SVGA_VGPU10=0" >> ~/.bashrc
source ～/.bashrc

Test Launch

If everything is set up correctly, you should get a opened simulator with a small robot inside it.

roslaunch turtlebot3_gazebo turtlebot3_world.launch

You can use Ctrl+C to exit the program