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Quick Start Guide

PC Setup

WARNING: The contents in this chapter corresponds to the Remote PC (your desktop or laptop PC) which will control TurtleBot3. Do not apply this instruction to your TurtleBot3.

NOTE: This instruction was tested on Linux with Ubuntu 16.04 and ROS1 Kinetic Kame.

Download and Install Ubuntu on PC

  1. Download the proper Ubuntu 16.04 LTS Desktop image for your PC from the links below.
  2. Follow the instruction below to install Ubuntu on PC.

Install ROS 1 on Remote PC

Open the terminal with Ctrl+Alt+T and enter below commands one at a time.
In order to check the details of the easy installation script, please refer to the script file.

$ sudo apt-get update
$ sudo apt-get upgrade
$ wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_kinetic.sh
$ chmod 755 ./install_ros_kinetic.sh 
$ bash ./install_ros_kinetic.sh

If the above installation fails, please refer to the official ROS1 Kinetic installation guide.

Install Dependent ROS 1 Packages

$ sudo apt-get install ros-kinetic-joy ros-kinetic-teleop-twist-joy \
  ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc \
  ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan \
  ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python \
  ros-kinetic-rosserial-server ros-kinetic-rosserial-client \
  ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server \
  ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro \
  ros-kinetic-compressed-image-transport ros-kinetic-rqt* \
  ros-kinetic-gmapping ros-kinetic-navigation ros-kinetic-interactive-markers

Install TurtleBot3 Packages

Install TurtleBot3 via Debian Packages.

$ sudo apt-get install ros-kinetic-dynamixel-sdk
$ sudo apt-get install ros-kinetic-turtlebot3-msgs
$ sudo apt-get install ros-kinetic-turtlebot3

Click here to expand more details about building TurtleBot3 package from source.

In case you need to download the source codes and build them, please use the commands below.
Make sure to remove the identical packages to avoid redundancy.

$ sudo apt-get remove ros-kinetic-dynamixel-sdk
$ sudo apt-get remove ros-kinetic-turtlebot3-msgs
$ sudo apt-get remove ros-kinetic-turtlebot3
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src/
$ git clone -b kinetic-devel https://github.com/ROBOTIS-GIT/DynamixelSDK.git
$ git clone -b kinetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
$ git clone -b kinetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
$ cd ~/catkin_ws && catkin_make
$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

Set TurtleBot3 Model Name

Set the default TURTLEBOT3_MODEL name to your model. Enter the below command to a terminal.

  • In case of TurtleBot3 Burger
    $ echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc
    
  • In case of TurtleBot3 Waffle Pi
    $ echo "export TURTLEBOT3_MODEL=waffle_pi" >> ~/.bashrc
    

Network Configuration

  1. Connect PC to a WiFi device and find the assigned IP address with the command below.
    $ ifconfig
    

  2. Open the file and update the ROS IP settings with the command below.
    $ nano ~/.bashrc
    
  3. Press Ctrl+END or Alt+/ to move the cursor to the end of line.
    Modify the address of localhost in the ROS_MASTER_URI and ROS_HOSTNAME with the IP address acquired from the above terminal window.

  4. Source the bashrc with below command.
    $ source ~/.bashrc
    

Quick Start Guide

PC Setup

WARNING: The contents in this chapter corresponds to the Remote PC (your desktop or laptop PC) which will control TurtleBot3. Do not apply this instruction to your TurtleBot3.

NOTE: This instruction was tested on Linux with Ubuntu 18.04 and ROS1 Melodic Morenia.

Download and Install Ubuntu on PC

  1. Download the proper Ubuntu 18.04 LTS Desktop image for your PC from the links below.
  2. Follow the instruction below to install Ubuntu on PC.

Install ROS 1 on Remote PC

Open the terminal with Ctrl+Alt+T and enter below commands one at a time.
In order to check the details of the easy installation script, please refer to the script file.

$ sudo apt update
$ sudo apt upgrade
$ wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_melodic.sh
$ chmod 755 ./install_ros_melodic.sh 
$ bash ./install_ros_melodic.sh

If the above installation fails, please refer to the official ROS1 Melodic installation guide.

Install Dependent ROS 1 Packages

$ sudo apt-get install ros-melodic-joy ros-melodic-teleop-twist-joy \
  ros-melodic-teleop-twist-keyboard ros-melodic-laser-proc \
  ros-melodic-rgbd-launch ros-melodic-depthimage-to-laserscan \
  ros-melodic-rosserial-arduino ros-melodic-rosserial-python \
  ros-melodic-rosserial-server ros-melodic-rosserial-client \
  ros-melodic-rosserial-msgs ros-melodic-amcl ros-melodic-map-server \
  ros-melodic-move-base ros-melodic-urdf ros-melodic-xacro \
  ros-melodic-compressed-image-transport ros-melodic-rqt* \
  ros-melodic-gmapping ros-melodic-navigation ros-melodic-interactive-markers

Install TurtleBot3 Packages

Install TurtleBot3 via Debian Packages.

$ sudo apt-get install ros-melodic-dynamixel-sdk
$ sudo apt-get install ros-melodic-turtlebot3-msgs
$ sudo apt-get install ros-melodic-turtlebot3

Click here to expand more details about building TurtleBot3 package from source.

In case you need to download the source codes and build them, please use the commands below.
Make sure to remove the identical packages to avoid redundancy.

$ sudo apt-get remove ros-melodic-dynamixel-sdk
$ sudo apt-get remove ros-melodic-turtlebot3-msgs
$ sudo apt-get remove ros-melodic-turtlebot3
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src/
$ git clone -b melodic-devel https://github.com/ROBOTIS-GIT/DynamixelSDK.git
$ git clone -b melodic-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
$ git clone -b melodic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
$ cd ~/catkin_ws && catkin_make
$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

Set TurtleBot3 Model Name

Set the default TURTLEBOT3_MODEL name to your model. Enter the below command to a terminal.

  • In case of TurtleBot3 Burger
    $ echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc
    
  • In case of TurtleBot3 Waffle Pi
    $ echo "export TURTLEBOT3_MODEL=waffle_pi" >> ~/.bashrc
    

Network Configuration

  1. Connect PC to a WiFi device and find the assigned IP address with the command below.
    $ ifconfig
    

  2. Open the file and update the ROS IP settings with the command below.
    $ nano ~/.bashrc
    
  3. Press Ctrl+END or Alt+/ to move the cursor to the end of line.
    Modify the address of localhost in the ROS_MASTER_URI and ROS_HOSTNAME with the IP address acquired from the above terminal window.

  4. Source the bashrc with below command.
    $ source ~/.bashrc
    

Quick Start Guide

PC Setup

WARNING: The contents in this chapter corresponds to the Remote PC (your desktop or laptop PC) which will control TurtleBot3. Do not apply this instruction to your TurtleBot3.

NOTE: This instruction was tested on Linux with Ubuntu 20.04 and ROS1 Noetic Ninjemys.

Download and Install Ubuntu on PC

  1. Download the proper Ubuntu 20.04 LTS Desktop image for your PC from the links below.
  2. Follow the instruction below to install Ubuntu on PC.

Install ROS 1 on Remote PC

Open the terminal with Ctrl+Alt+T and enter below commands one at a time.
In order to check the details of the easy installation script, please refer to the script file.

$ sudo apt update
$ sudo apt upgrade
$ wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_noetic.sh
$ chmod 755 ./install_ros_noetic.sh 
$ bash ./install_ros_noetic.sh

If the above installation fails, please refer to the official ROS1 Noetic installation guide.

Install Dependent ROS 1 Packages

$ sudo apt-get install ros-noetic-joy ros-noetic-teleop-twist-joy \
  ros-noetic-teleop-twist-keyboard ros-noetic-laser-proc \
  ros-noetic-rgbd-launch ros-noetic-rosserial-arduino \
  ros-noetic-rosserial-python ros-noetic-rosserial-client \
  ros-noetic-rosserial-msgs ros-noetic-amcl ros-noetic-map-server \
  ros-noetic-move-base ros-noetic-urdf ros-noetic-xacro \
  ros-noetic-compressed-image-transport ros-noetic-rqt* ros-noetic-rviz \
  ros-noetic-gmapping ros-noetic-navigation ros-noetic-interactive-markers

Install TurtleBot3 Packages

Install TurtleBot3 via Debian Packages.

$ sudo apt install ros-noetic-dynamixel-sdk
$ sudo apt install ros-noetic-turtlebot3-msgs
$ sudo apt install ros-noetic-turtlebot3

Click here to expand more details about building TurtleBot3 package from source.

In case you need to download the source codes and build them, please use the commands below.
Make sure to remove the identical packages to avoid redundancy.

$ sudo apt remove ros-noetic-dynamixel-sdk
$ sudo apt remove ros-noetic-turtlebot3-msgs
$ sudo apt remove ros-noetic-turtlebot3
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src/
$ git clone -b noetic-devel https://github.com/ROBOTIS-GIT/DynamixelSDK.git
$ git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
$ git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
$ cd ~/catkin_ws && catkin_make
$ echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

Network Configuration

  1. Connect PC to a WiFi device and find the assigned IP address with the command below.
    $ ifconfig
    

  2. Open the file and update the ROS IP settings with the command below.
    $ nano ~/.bashrc
    
  3. Press Ctrl+END or Alt+/ to move the cursor to the end of line.
    Modify the address of localhost in the ROS_MASTER_URI and ROS_HOSTNAME with the IP address acquired from the above terminal window.

  4. Source the bashrc with below command.
    $ source ~/.bashrc
    

Quick Start Guide

PC Setup

WARNING: The contents in this chapter corresponds to the Remote PC (your desktop or laptop PC) which will control TurtleBot3. Do not apply this instruction to your TurtleBot3.

NOTE: This instruction was tested on Linux with Ubuntu 18.04 and ROS2 Dashing Diademata.

Download and Install Ubuntu on PC

  1. Download the proper Ubuntu 18.04 LTS Desktop image for your PC from the links below.
  2. Follow the instruction below to install Ubuntu on PC.

Install ROS 2 on Remote PC

Open the terminal with Ctrl+Alt+T and enter below commands one at a time.
In order to check the details of the easy installation script, please refer to the script file.

$ sudo apt-get update
$ sudo apt-get upgrade
$ wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros2_dashing.sh
$ chmod 755 ./install_ros2_dashing.sh
$ bash ./install_ros2_dashing.sh

If the above installation fails, please refer to the official ROS2 Dashing installation guide.

Install Dependent ROS 2 Packages

  1. Open the terminal with Ctrl+Alt+T from Remote PC.
  2. Install Colcon
    $ sudo apt install python3-colcon-common-extensions
    
  3. Install Gazebo9
    $ curl -sSL http://get.gazebosim.org | sh
    
  4. Uninstall Gazebo11 if installed previously
    $ sudo apt remove gazebo11 libgazebo11-dev
    $ sudo apt install gazebo9 libgazebo9-dev
    $ sudo apt install ros-dashing-gazebo-ros-pkgs
    
  5. Install Cartographer
    $ sudo apt install ros-dashing-cartographer
    $ sudo apt install ros-dashing-cartographer-ros
    
  6. Install Navigation2
    $ sudo apt install ros-dashing-navigation2
    $ sudo apt install ros-dashing-nav2-bringup
    
  7. Install vcstool
    $ sudo apt install python3-vcstool
    

Install TurtleBot3 Packages

Install TurtleBot3 via Debian Packages.

$ source /opt/ros/dashing/setup.bash
$ sudo apt install ros-dashing-dynamixel-sdk
$ sudo apt install ros-dashing-turtlebot3-msgs
$ sudo apt install ros-dashing-turtlebot3

Click here to expand more details about building TurtleBot3 package from source.

In case you need to build the TurtleBot3 packages with source code, please use the commands below.
Building the source code provides most up to date contents which may have resolved known issues.
Make sure to remove the binary packages to avoid redundancy.

$ sudo apt remove ros-dashing-turtlebot3-msgs
$ sudo apt remove ros-dashing-turtlebot3
$ mkdir -p ~/turtlebot3_ws/src
$ cd ~/turtlebot3_ws/src/
$ git clone -b dashing-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
$ git clone -b dashing-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
$ colcon build --symlink-install
$ source ~/.bashrc

Environment Configuration

  1. Set the ROS environment for PC.
    $ echo 'source ~/turtlebot3_ws/install/setup.bash' >> ~/.bashrc
    $ echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc
    $ source ~/.bashrc
    

If you have installed TurtleBot3 using apt install command, you can ignore the warning below.

bash: /home/{$YOUR_ACCOUNT}/turtlebot3_ws/install/setup.bash: No such file or directory

Quick Start Guide

PC Setup

WARNING: The contents in this chapter corresponds to the Remote PC (your desktop or laptop PC) which will control TurtleBot3. Do not apply this instruction to your TurtleBot3.

NOTE: This instruction was tested on Linux with Ubuntu 20.04 and ROS2 Foxy Fitzroy.

Download and Install Ubuntu on PC

  1. Download the proper Ubuntu 20.04 LTS Desktop image for your PC from the links below.
  2. Follow the instruction below to install Ubuntu on PC.

Install ROS 2 on Remote PC

Open the terminal with Ctrl+Alt+T and enter below commands one at a time.
In order to check the details of the easy installation script, please refer to the script file.

$ wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros2_foxy.sh
$ sudo chmod 755 ./install_ros2_foxy.sh
$ bash ./install_ros2_foxy.sh

If the above installation fails, please refer to the official ROS2 Foxy installation guide.

Install Dependent ROS 2 Packages

  1. Open the terminal with Ctrl+Alt+T from Remote PC.
  2. Install Gazebo11
    $ sudo apt-get install ros-foxy-gazebo-*
    
  3. Install Cartographer
    $ sudo apt install ros-foxy-cartographer
    $ sudo apt install ros-foxy-cartographer-ros
    
  4. Install Navigation2
    $ sudo apt install ros-foxy-navigation2
    $ sudo apt install ros-foxy-nav2-bringup
    

Install TurtleBot3 Packages

Install TurtleBot3 via Debian Packages.

$ source ~/.bashrc
$ sudo apt install ros-foxy-dynamixel-sdk
$ sudo apt install ros-foxy-turtlebot3-msgs
$ sudo apt install ros-foxy-turtlebot3

Click here to expand more details about building TurtleBot3 package from source.

In case you need to build the TurtleBot3 packages with source code, please use the commands below.
Building the source code provides most up to date contents which may have resolved known issues.
Make sure to remove the binary packages to avoid redundancy.

$ sudo apt remove ros-foxy-turtlebot3-msgs
$ sudo apt remove ros-foxy-turtlebot3
$ mkdir -p ~/turtlebot3_ws/src
$ cd ~/turtlebot3_ws/src/
$ git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
$ git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
$ cd ~/turtlebot3_ws
$ colcon build --symlink-install
$ echo 'source ~/turtlebot3_ws/install/setup.bash' >> ~/.bashrc
$ source ~/.bashrc

Environment Configuration

  1. Set the ROS environment for PC.
    $ echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc
    $ source ~/.bashrc
    

If you have installed TurtleBot3 using Debian packages with apt install command, you can ignore the warning below.

bash: /home/{$YOUR_ACCOUNT}/turtlebot3_ws/install/setup.bash: No such file or directory

Quick Start Guide

PC Setup

NOTE: This instruction was tested on Windows with Windows 10 IoT Enterprise and ROS1 Melodic Morenia or ROS1 Noetic Ninjemys.

WARNING

  • This SBC Setup section for Windows is tested with Intel Up² or Intel NUC on TurtleBot3.
  • This SBC will be operating as Remote PC and SBC at the same time.
  • This process may take long time. Please do not use battery while following this section.
  • An HDMI monitor and input devices such as a keyboard and a mouse will be required to complete this setup.

Setup Remote PC

  1. If you do not already have Windows 10 on your Remote PC (Desktop, Laptop or SBC), you can download a trial of Windows 10 IoT Enterprise from the following link:
  2. Please refer to the ROS Wiki instructions for installing ROS on Windows.

  3. Install LDS-01 Lidar driver
  4. Create workspace and download TurtleBot3 packages.
    For more details, please refer to Microsoft Instructions.
    > mkdir c:\ws\turtlebot3\src
    > cd c:\ws\turtlebot3\src
    > curl -o tb3.repos https://raw.githubusercontent.com/ms-iot/ROSOnWindows/master/docs/Turtlebot/turtlebot3_ros1.repos
    > vcs import src < tb3.repos
    
  5. Customize TurtleBot3 Launch Files.
    Modify the ROS Launch files to map the devices to the correct COM port. To determine which COM ports you require, right click on the Windows Start Menu, Select Device Manager.
    • Under the Ports (COM & LPT) node:
      • USB Serial Device (COMx) is the OpenCR board.
      • Silicon Labs CP210x USB to UART Bridge (COMy) is the Lidar.
    • Enter the COM port in the correct fields in the launch files below:

      • turtlebot3_bringup/launch/turtlebot3_core.launch
         <node pkg="rosserial_python" type="serial_node.py" name="turtlebot3_core" output="screen">
             <param name="port" value="COMx"/>
      
      • turtlebot3_bringup/launch/turtlebot3_lidar.launch
         <node pkg="hls_lfcd_lds_driver" type="hlds_laser_publisher" name="turtlebot3_lds" output="screen">
             <param name="port" value="COMy"/>
      
  6. Build the Workspace
    > cd c:\ws\turtlebot3
    > catkin_make
    > c:\ws\turtlebot3\devel\setup.bat
    

Network Configuration

To communicate from a Windows 10 system to a remote single board computer (SBC) running on the turtlebot, set the following environment variables:

> set ROS_MASTER_URI=http://<IP address of the PC>:11311
> set ROS_HOSTNAME=<name of the windows computer>