Getting Started In Simulation¶

In this tutorial, you will set your set up a directory on your ROS-enabled PC as your workspace for development and install the competition ROS packages. Please follow the instructions below carefully.

Setup ROS workspace (Only if you don't already have a catkin_ws)¶

Open a new terminal on your PC, then copy and paste the following one line at a time:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace

Install TurtleBot3 packages via Debian packages¶

sudo apt-get update
sudo apt-get install ros-melodic-dynamixel-sdk
sudo apt-get install ros-melodic-turtlebot3-msgs
sudo apt-get install ros-melodic-turtlebot3

Clone the repository¶

In the same terminal (or in a new one), copy and paste the following:

cd ~/catkin_ws/src
git clone --recurse-submodules https://github.com/PARC-Robotics/PARC-Engineers-League-Phase2.git

Or if you already have cloned the repo without submodules, run command git submodule update --init --recursive to update them.

Install dependencies¶

In the same terminal (or in a new one), copy and paste the following:

cd ~/catkin_ws
sudo apt update
rosdep install --from-paths ./src --ignore-src -y

Compile packages¶

cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash

NOTE: There is a known issue while compiling, Intel RealSense SDK 2.0 is missing
To solve, update the file realsense-ros/realsense_camera/CMakeLists.txt,line: 43 to find_package(realsense2 2.36.0) i.e. downgrade the required version of realsense2 to 2.36.0

Set up ROS environment¶

To set the environment every time you launch a new terminal, following this command:

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

As you develop, it is good to set the environment variables whenever you run a catkin_make command to compile changes to your packages. You can do that by:

source ~/catkin_ws/devel/setup.bash

Test installation¶

If you completed the preceding tasks successfully, you should be able to run this ROS launch command and see the Gazebo simulator and RViz simulator open with the following display:

roslaunch turtlebot3_parc turtlebot3_parc.launch

Gazebo Simulator window

RViz window

Controlling the robot using keyboard¶

Run the following command in a new terminal

source ~/catkin_ws/devel/setup.bash
roslaunch turtlebot3_parc teleop.launch

Now keeping the second terminal on top (teleop.launch) press i to move the robot forward, you can see the robot moving in "RViz" and "Gazebo" windows. you can use the keys shown below to move the robot and k key to stop the movement.

Moving around:
   u    i    o
   j    k    l
   m    ,    .