ROS-TurtleBot3-Robot-Simulation

TurtleBot is a low-cost, personal robot kit with open-source software. TurtleBot was created at Willow Garage by MeloneeWise and Tully Foote .With TurtleBot, we’ll be able to build a robot that can drive around a house, see in 3D, and have enough horsepower to create exciting applications.

Downloading the TurtleBot3 simulation files:

Opening new Terminal (Ctrl+alt+T)

Typing the following commands

~$ cd ~/catkin_ws/src/

~$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

~$ cd ~/catkin_ws && catkin_make

Installing the TurtleBot3 simulation packages:

Installing the independent packages for TurtleBot3 control by Entering the following commands:

 ~$ 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 and type catkin_make

The preparation for TurtleBot3 is done.

Launching turtlebot simulation:

TurtleBot3 has three models, Burger, Waffle, and Waffle Pi (as appeared on the first picture),

• specify which model will be used (e.g. Burger)
• choosing which file in gazebo folder to simulate (e.g. empty world)
• opening the file and replacing "TURTLEBOT3_MODEL" with "burger"
• close & save

Writing the following commands to contact my own server without errors

~$ export ROS_HOSTNAME=localhost

~$ export ROS_MASTER_URI=http://localhost:11311

the following commands to lunch the turtlebot simulation

~$ roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch

Done successfully ))

Autonomous Navigation and Obstacle Avoidance:

Launching another Turtlebot simulation.

The simulation is to have TurtleBot3 autonomously navigate around a room and avoid crash into objects. Typing the following commands:

~$ export ROS_HOSTNAME=localhost

~$ export ROS_MASTER_URI=http://localhost:11311

~$ roslaunch turtlebot3_gazebo turtlebot3_world.launch
 

On new terminal

~$ roslaunch turtlebot3_gazebo turtlebot3_simulation.launch

Done successfully ))

THANK U :)