Happy Mini TurtleBot3 Simulations

概　要

次のturtlebot3_simulationsパッケージにhappy miniのモデル(URDF, Mesh)を追加した。現時点では、ロボット台車のパラメータはwaffle_piと同じ。

• http://wiki.ros.org/turtlebot3_simulations (metapackage)

環　境

• ROS2 Foxy

インストール

• GazeboをROSで使うためのパッケージのインストール

$ source ~/.bashrc
$ sudo apt install ros-foxy-gazebo-*
$ sudo apt install ros-foxy-gazebo-ros-pkgs

• Turtlebot3関連パッケージのインストール

$ sudo apt install ros-foxy-dynamixel-sdk
$ sudo apt install ros-foxy-turtlebot3
$ sudo apt install ros-foxy-turtlebot3-msgs
$ sudo apt install ros-foxy-turtlebot3-gazebo

• Happy Mini関連パッケージのインストール

$ cd ~/colcon_ws/src
$ git clone https://github.com/demulab/happy_mini_turtlebot3_sim.git
$ cd ~/colcon_ws
$ colcon build --symlink-install

• Happy Miniモデルに必要なファイルのコピー

$ cd ~/colcon_ws/src/happy_mini_turtlebot3_sim/turtlebot3_gazebo/models
$ sudo cp -r turtlebot3_happy_mini /opt/ros/foxy/share/turtlebot3_gazebo/models
$ cd ~/colcon_ws/src/happy_mini_turtlebot3_sim/turtlebot3_gazebo/models/turtlebot3_happy_mini/urdf
$ sudo cp turtlebot3_happy_mini.urdf /opt/ros/foxy/share/turtlebot3_description/urdf  
$ cd ~/colcon_ws/src/happy_mini_turtlebot3_sim/turtlebot3_fake_node/param
$ sudo cp happy_mini.yaml /opt/ros/foxy/share/turtlebot3_fake_node/param  
$ cd ~/colcon_ws/src/happy_mini_turtlebot3_sim/turtlebot3_navigation2/param
$ sudo cp happy_mini.yaml /opt/ros/foxy/share/turtlebot3_navigation2/param  
$ cd ~/colcon_ws/src/happy_mini_turtlebot3_sim/turtlebot3_node/param
$ sudo cp happy_mini.yaml /opt/ros/foxy/share/turtlebot3_node/param  

• ~/.bashrcに次の1行を追加

export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/foxy/share/turtlebot3_gazebo/models

使用法

1. Empty World
   

$ export TURTLEBOT3_MODEL=happy_mini
$ ros2 launch turtlebot3_gazebo empty_world.launch.py

2. TurtleBot3 World
   

$ export TURTLEBOT3_MODEL=happy_mini
$ ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

3. TurtleBot3 House

$ export TURTLEBOT3_MODEL=happy_mini
$ ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py