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Fake Node Simulation

The contents in e-Manual are subject to be updated without a prior notice. Therefore, some video may differ from the contents in e-Manual.

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

TIP: The terminal application can be found with the Ubuntu search icon on the top left corner of the screen. The shortcut key for running the terminal is Ctrl-Alt-T.

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 first.

[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.

Please use the proper keyword among burger, waffle, waffle_pi for the TURTLEBOT3_MODEL parameter.
[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

The contents in e-Manual are subject to be updated without a prior notice. Therefore, some video may differ from the contents in 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.
    Please use the proper keyword among burger, waffle, waffle_pi for 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