# turtlebot3_simulation

**Repository Path**: jay-2deng/turtlebot3_simulation

## Basic Information

- **Project Name**: turtlebot3_simulation
- **Description**: Turtlebot3
- **Primary Language**: Unknown
- **License**: Apache-2.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 3
- **Created**: 2025-06-03
- **Last Updated**: 2025-06-03

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

### 简介
navigation2+turtlebot3_simulations是一个<br>
### 版本说明
本仿真用到的基础软件版本说明如下：<br>
Ubuntu Linux 22.04<br>

ROS 2.0（ROS Humble)<br>

Gazebo Garden(ROS Humble)<br>
### 先决条件
1.安装ROS2.0<br>
2.安装Gazebo Garden<br>
3.ROS2 with SITL in Gazebo<br>
 [https://ardupilot.org/dev/docs/ros2.html](http://)<br>
 [https://ardupilot.org/dev/docs/ros2-sitl.html](http://)<br>
 [https://ardupilot.org/dev/docs/ros2-gazebo.html](http://)<br>
### 安装步骤
New console:<br>
`mkdir -p ~/ros2_ws/src`<br>
`cd ~/ros2_ws/src`<br>
`git clone -b ardupilot_controller https://gitee.com/zbrover/turtlebot3_simulation.git`<br>
`colcon build --packages-select turtlebot3_simulations turtlebot3_fake_node turtlebot3_gazebo --symlink-install`<br>

New console:<br>
`mkdir -p ~/nav2_ws/src`<br>
`cd ~/nav2_ws/src`<br>
`git clone -b ardupilot_controller https://gitee.com/zbrover/navigation2.git`<br>
`cd ~/nav2_ws`<br>
`rosdep install -y \
  --from-paths ./src \
  --ignore-src`<br>
`rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble`<br>
`colcon build   --symlink-install`<br>
`rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble`<br>



### 启动步骤
目前实现的命令：<br>
事先要在sitl_dds_udp.launch.py中把mavproxy注释掉。<br>
New console:<br>
~$ `cd nav2_ws`<br>
~/nav2_ws$`. install/setup.bash`<br>
~/nav2_ws$ `cd`<br>
~$ `cd ros2_ws/`<br>
~/ros2_ws$ `. install/setup.bash`<br>
~/ros2_ws$ `cd`<br>
~$ `cd nav2_ws/`<br>
~/nav2_ws$ `export TURTLEBOT3_MODEL=apm`<br>
~/nav2_ws$ `ros2 launch nav2_bringup apm_simulation_launch.py`<br>
New console:<br>
~$ `mavproxy.py --out 127.0.0.1:14550 --out 127.0.0.1:14551 --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --non-interactive`<br>
注意：运行这个才有DDS节点<br>
New console:<br>
~/ros2_ws$ `ros2 service call /ap/arm_motors ardupilot_msgs/srv/ArmMotors "{arm: True}"`<br>
~/ros2_ws$ `ros2 service call /ap/mode_switch ardupilot_msgs/srv/ModeSwitch "{mode: 15}"`<br>
~/ros2_ws$ `ros2 run twist_stamper twist_stamper --ros-args -r cmd_vel_in:=cmd_vel -r cmd_vel_out:=/ap/cmd_vel -p frame_id:=base_link`<br>
现在可以在rviz中初始化2D Pose Estimate，然后指定2D goal。<br>