Tag Archives: Gazebo

How to simulate Turtlebot in Ros/Gazebo?

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To simulate Turtlebot platform in Ros Indigo/Gazebo, we have to install turtlebot packages:

sudo apt-get install ros-indigo-turtlebot ros-indigo-turtlebot-apps ros-indigo-turtlebot-interactions ros-indigo-turtlebot-simulator ros-indigo-kobuki-ftdi ros-indigo-rocon-remocon ros-indigo-rocon-qt-library ros-indigo-ar-track-alvar-msgs

When the installation finishes, write in the terminal:
source /opt/ros/indigo/setup.bash
roslaunch turtlebot_gazebo turtlebot_world.launch

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And, to move the Turtlebot model, open a new terminal and write:
source /opt/ros/indigo/setup.bash
roslaunch turtlebot_teleop keyboard_teleop.launch

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First steps with ROS

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In this first post we have simulated Widow-X arm in ROS/Indigo. There are several simulators available in ROS, for instance:

– MoveIt!, which is a motion planning.

– Stage, very useful to 2D navigation.

– Gazebo, tool to test algorithms and design robots.

– Rviz, tool to visualize the robots.

For this project Gazebo has been selected with its recommended version for Indigo, Gazebo 2.X. If you are not using Indigo, take a look to this web to know which Gazebo version you need.

The model and its home position are shown in the following figures.

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