05. TurtleBot Gazebo Package

Turtlebot package:

Access this link and go through the turtlebot_gazebo documentation. After that, follow the instructions listed below to clone the turtlebot_gazebo package in the src directory of your catkin_ws and build it.

While scrolling through these instructions, you will notice that some statements are a bit different than the one presented in the videos. The reason behind that is the different environment used. In the videos, a Virtual Machine booted with LUbuntu is used. Here in the description, you are presented with instructions on how to replicate the steps in the Udacity Workspace . The only difference between what you see and what is listed is the directory of the catkin_ws . In VM, you can store it anywhere you want, preferably in the root ~ directory. Whereas, in the workspace, you will have to store it under /home/workspace/ so it won't get deleted after a reboot.

Clone Package:

$ cd /home/workspace/catkin_ws/src
$ git clone https://github.com/turtlebot/turtlebot_simulator

Install Dependencies:

$ cd /home/workspace/catkin_ws
$ source devel/setup.bash
$ rosdep -i install turtlebot_gazebo

Build Package:

$ catkin_make
$ source devel/setup.bash

Launch Nodes:

$ roslaunch turtlebot_gazebo turtlebot_world.launch

Topics:

$ rostopic list
Or
$ rosrun rqt_graph rqt_graph