TurtleBot3

Standalone Gazebo Simulation

NOTE: This tutorial is developed only for user who want to simulate TurtleBot3 without ROS. However, we highly recommend to run simulation on ROS.

Install Library for Gazebo7
```
$ sudo apt-get install libgazebo7-dev
```

Download Source Code from Github

$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_gazebo_plugin

Add Gazebo Plugin Path in .bashrc File

$ nano ~/.bashrc

NOTE: turtlebot3_gazebo_plugin path = ~/turtlebot3_gazebo_plugin

 export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:${turtlebot3_gazebo_plugin path}/build
 export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:${turtlebot3_gazebo_plugin path}/models

Make and Build

$ cd ${turtlebot3_gazebo_plugin path}
$ mkdir build
$ cd build
$ cmake ..
$ make

Execute Gazebo Plugin.
Replace the ${TB3_MODEL} with the TurtleBot3 model you want to use: burger, waffle, waffle_pi.
```
$ cd ${turtlebot3_gazebo_plugin}
$ gazebo worlds/turtlebot3_${TB3_MODEL}.world
```

Teleoperation with Keyboard

w - set linear velocity up
x - set linear velocity down
d - set angular velocity up
a - set angular velocity down
s - set all velocity to zero

Topic Subscribe Command

Show all topic
```
$ gz topic -l
```

Subscribe scan data

$ gz topic -e /gazebo/default/user/turtlebot3_${TB3_MODEL}/lidar/hls_lfcd_lds/scan

Subscribe image data

For Waffle

 $ gz topic -e /gazebo/default/user/turtlebot3_waffle/image/intel_realsense_r200/image

For Waffle Pi

 $ gz topic -e /gazebo/default/user/turtlebot3_waffle_pi/image/raspberry_pi_cam/image

Execute listener

$ cd ${turtlebot3_gazebo_plugin}/build
$ ./lidar_listener ${TB3_MODEL}

Open a new terminal window and enter below command.

$ cd ${turtlebot3_gazebo_plugin}/build
$ ./image_listener ${TB3_MODEL}

NOTE: This feature is available for Kinetic only.