The "tirt_gazebo" ROS package is crafted with the objective of facilitating uncomplicated simulation validation for the TIRT Intelligent Service Competition - Food Runner Robots.
- Gazebo
sudo apt-get install gazebo11 && sudo apt-get install libgazebo11-dev - Turtlebot3
sudo apt-get install ros-noetic-turtlebot3*
- Navigating to the "src" directory within your catkin workspace :
cd ~/catkin_ws/src - Clone tirt_gazebo package for github :
git clone https://github.com/wenjiu2001/TIRT-Gazebo-Simple.git tirt_gazebo - Build tirt_gazebo package :
cd ~/catkin_ws && catkin_make - Package environment setup :
source ./devel/setup.sh
Adjustments can be made by modifying the following parameters:
| Parameter name | Data Type | Detail |
|---|---|---|
| model | string | Set the Turtlebot3 robot model. default: null |
| x_pos | float | Set the initial X-axis position of the robot. default: 0.0 |
| y_pos | float | Set the initial Y-axis position of the robot. default: 2.7 |
| z_pos | float | Set the initial Z-axis position of the robot. default: 0.0 |
-
Add permanent workspace environment variables :
-
Turtlebot3 Model
- Burger
echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc - Waffle
echo "export TURTLEBOT3_MODEL=waffle" >> ~/.bashrc - Waffle Pi
echo "export TURTLEBOT3_MODEL=waffle_pi" >> ~/.bashrc
- Burger
-
Reload the .bashrc file
source ~/.bashrc
-
-
Launch Simulation World :
roslaunch tirt_gazebo turtlebot3_tirt.launch