Turtlebot3_Simulation_WorkSpace

Prerequisite

• Gazebo installed
• ROS Humble installed

Using

first export the turtlebot3 model

cd turtle_ws
export GAZEBO_MODEL_PATH=$PWD/src/turtlebot3/turtlebot3_simulations/turtlebot3_gazebo/models
export TURTLEBOT3_MODEL=waffle

Import the repos

cd turtle_ws/src
vcs import . < turtlebot3.repos 

launch an empty gazebo world

ros2 launch turtlebot3_gazebo empty_world.launch.py

spawn a single robot

ros2 run gazebo_ros spawn_entity.py -entity <entity_name> -robot_namespace <namespace> -file $GAZEBO_MODEL_PATH/turtlebot3_waffle/model.sdf -x <x> -y <y> -z 0.01

Reference

Turtlebo3 simulation install