ros2_turtlebot3_gazebo11

Launch turtlebot3 nav2

1. Install pkgs

sudo apt install -y gazebo11 ros-foxy-gazebo-ros-pkgs ros-foxy-cartographer ros-foxy-cartographer-ros ros-foxy-navigation2 ros-foxy-nav2-bringup ros-foxy-turtlebot3*

2. Install sources

sudo apt install python3-vcstool
mkdir -p ~/turtlebot3_ws/src
cd ~/turtlebot3_ws
wget https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/ros2/turtlebot3.repos
vcs import src < turtlebot3.repos

Remember to change branch to you ros-distro

3. Compile

source /opt/ros/<ros2-distro>/setup.bash
colcon build --symlink-install --parallel-workers 12

4. Start

source install/setup.bash
export TURTLEBOT3_MODEL=waffle
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/<ros2-distro>/share/turtlebot3_gazebo/models
source /usr/share/gazebo-11/setup.sh
ros2 launch nav2_bringup tb3_simulation_launch.py