ROS2下使用TurtleBot3教程-2.安装TB3功能包

mkdir -p ~/colcon_ws/src

cd ~/colcon_ws/src/

git clone -b foxy-devel https://github.com/ROBOTIS-GIT/DynamixelSDK.git

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

编译

cd ..

colcon build --symlink-install

添加环境变量

echo 'source ~/colcon_ws/install/setup.bash' >> ~/.bashrc

echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc

添加环境变量

echo 'export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/colcon_ws/src/turtlebot3/turtlebot3_simulations/turtlebot3_gazebo/models' >> ~/.bashrc

source ~/.bashrc