How to Launch the TurtleBot3 Simulation With ROS

turtlebot3-simulation

In this tutorial, we will work with a virtual robot called TurtleBot3. TurtleBot3 is a low-cost, personal robot kit with open-source software. You can read more about TurtleBot here at the ROS website.

TurtleBot3 is designed to run using just ROS and Ubuntu. It is a popular robot for research and educational purposes.

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Table of Contents

Directions

I’m assuming you have ROS installed and are using Linux. If you don’t have ROS installed, install ROS now.

Let’s install the TurtleBot3 simulator now.

Open a terminal window and install the dependent packages. Enter the following commands, one right after the other:

cd ~/catkin_ws/src/
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
cd ~/catkin_ws && catkin_make

TurtleBot3 has three models, Burger, Waffle, and Waffle Pi, so you have to set which model you want to use before you launch TurtleBot3. Type this command to open the bashrc file to add this setting:

gedit ~/.bashrc

Add this line at the bottom of the file:

export TURTLEBOT3_MODEL=burger
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Save the file and close it.

Now reload .bashrc so that you do not have to log out and log back in.

source ~/.bashrc

Now, we need to download the TurtleBot3 simulation files.

cd ~/catkin_ws/src/
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
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cd ~/catkin_ws && catkin_make
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Simulate TurtleBot3 Using RViz

Now that we have the TurtleBot3 simulator installed, let’s launch the virtual robot using RViz. Type this command in your terminal window:

roslaunch turtlebot3_fake turtlebot3_fake.launch

If you want to move TurtleBot3 around the screen, open a new terminal window, and type the following command:

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

Click the terminal window and use the keys below to control the movement of your TurtleBot (e.g. press W key to move forward, X key to move backward and S to stop).

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And remember, use the keyboard to move the robot around.

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Press CTRL+C in all terminal windows.

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Simulate TurtleBot3 Using Gazebo

Now let’s use Gazebo to do the TurtleBot3 simulation.

First, let’s launch TurtleBot3 in an empty environment. Type this command:

roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch

Wait for Gazebo to load. It could take a while. Here is what your screen should look like:

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Press CTRL+C and close out all windows.

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How to Change the Simulation Environment for TurtleBot3

Let’s look at our TurtleBot3 in a different environment. This environment is often used for testing SLAM and navigation algorithms. Simultaneous localization and mapping (SLAM) concerns the problem of a robot building or updating a map of an unknown environment while simultaneously keeping track its location in that environment.

In a new terminal window type:

roslaunch turtlebot3_gazebo turtlebot3_world.launch
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Press CTRL+C and close out all windows.

We can also simulate TurtleBot3 inside a house. Type this command and wait a few minutes for the environment to load.

roslaunch turtlebot3_gazebo turtlebot3_house.launch
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To move the TurtleBot with your keyboard, use this command in another terminal tab:

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

Press CTRL+C and close out all windows.

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Autonomous Navigation and Obstacle Avoidance With TurtleBot3

Now let’s implement obstacle avoidance for the TurtleBot3 robot. The goal is to have TurtleBot3 autonomously navigate around a room and avoid colliding into objects.

Open a new terminal and type:

roslaunch turtlebot3_gazebo turtlebot3_world.launch

In another terminal window type:

roslaunch turtlebot3_gazebo turtlebot3_simulation.launch

You should see TurtleBot3 autonomously moving about the world and avoiding obstacles along the way.

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We can open RViz to visualize the LaserScan topic while TurtleBot3 is moving about in the world. In a new terminal tab type:

roslaunch turtlebot3_gazebo turtlebot3_gazebo_rviz.launch
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Press CTRL+C and close out all windows.

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Simulating SLAM With TurtleBot3

Let’s take a look at how we can simulate SLAM with TurtleBot3. As a refresher, Simultaneous localization and mapping (SLAM) concerns the problem of a robot building or updating a map of an unknown environment while simultaneously keeping track its location in that environment.

Install the SLAM module in a new terminal window.

sudo apt install ros-melodic-slam-gmapping

Start Gazebo in a new terminal window.

roslaunch turtlebot3_gazebo turtlebot3_world.launch

Start SLAM in a new terminal tab.

roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping

Start autonomous navigation in a new terminal tab:

roslaunch turtlebot3_gazebo turtlebot3_simulation.launch

Watch the robot create a map of the environment as it autonomously moves from place to place!

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And that is all there is to it.

When you’ve had enough, press CTRL+C and close out all windows.

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That’s it for TurtleBot3. In case you want to try other commands and learn more, check out the official TurtleBot3 tutorials.