The contents in e-Manual are subject to change without prior notice. Video content may differ from the content in the e-Manual.

To use a virtual TurtleBot3, execute turtlebot3_fake_node.launch.py in a turtlebot3_fake_node package that is simple simulation node. Follow the instructions to bring TurtleBot3 into the virtual world using Fake Node.

1. Execute turtlebot3_fake_node.launch.py file.
   Specify your TurtleBot3 model (burger, waffle, waffle_pi) using the TURTLEBOT3_MODEL parameter.

   $ export TURTLEBOT3_MODEL=burger
   $ ros2 launch turtlebot3_fake_node turtlebot3_fake_node.launch.py
   

2. You can control the virtual TurtleBot3 by using Teleoperation

   $ export TURTLEBOT3_MODEL=burger
   $ ros2 run turtlebot3_teleop teleop_keyboard
   

The contents of the e-Manual are subject to change without prior notice. Video content may differ from the content in the e-Manual.

To use turtlebot3_fake_node, you need the turtlebot3_simulation metapackage. Install the package as shown in the following command.

NOTE: The turtlebot3_simulation metapackage requires turtlebot3 metapackage and turtlebot3_msgs package as a prerequisite. If you didn’t install it in the Install Dependent ROS Packages of PC Setup section, install it now.

[Remote PC]

$ cd ~/catkin_ws/src/
$ git clone -b noetic https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
$ cd ~/catkin_ws && catkin_make

To launch the virtual robot, execute the turtlebot3_fake.launch file in the turtlebot3_fake package as shown below. The turtlebot3_fake is a very simple simulation node that can be run without having an actual robot. You can even control the virtual TurtleBot3 in RViz with a teleoperation node.

[Remote PC]

$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_fake turtlebot3_fake.launch

[Remote PC]

$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch