Turtlebot3 Gazebo Simulation 실행

Launch Simulation World

$ export TURTLEBOT3_MODEL=burger
$ roslaunch turtlebot3_gazebo turtlebot3_world.launch

Operate TurtleBot3

$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

How to run Autonomous Collision Avoidance

$ roslaunch turtlebot3_gazebo turtlebot3_simulation.launch

How to visualize Simulation data(RViz)

$ roslaunch turtlebot3_gazebo turtlebot3_gazebo_rviz.launch

Run SLAM Node

roslaunch turtlebot3_slam turtlebot3_slam.launch slam_methods:=gmapping

Save Map

$ rosrun map_server map_saver -f ~/map

Run Navigation Node

$ roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml

Estimate Initial Pose
2D Pose Estimate

$ roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

Set Navigation Goal
2D Nav Goal