ROS2 Turtlebot3 Simulation

로보티즈 터틀봇3 시뮬레이션

cd ~/turtlebot3_ws/src/
git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
cd ~/turtlebot3_ws && colcon build --symlink-install

gazebo 설치

sudo apt install ros-foxy-gazebo-*

turtlebot3 설치

sudo apt install ros-foxy-turtlebot3*

# sudo apt install ros-foxy-turtlebot3-gazebo
# sudo apt install ros-foxy-turtlebot3-msgs

tutlebot3 simulation을 실행 후 ROS2 CLI 명령어로 정보 확인하기

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

ros2 topic list

/*
/clock
/cmd_vel
/imu
/joint_states
/odom
/parameter_events
/performance_metrics
/robot_description
/rosout
/scan
/tf
/tf_static
*/

ros2 topic type /cmd_vel

/*
geometry_msgs/msg/Twist
*/

ros2 topic type /scan

/*
sensor_msgs/msg/LaserScan
*/

cat /opt/ros/foxy/share/sensor_msgs/msg/LaserScan.msg

ros2 topic echo /scan

아래와 같은 정보가 나오는데 - - - 로 반복해준다.
레이더로 거리를 측정한 값을 보여주는데 장애물에 부딪히지 않고 끝까지 간 경우 .inf 로 나타낸다.

---
header:
  stamp:
    sec: 347
    nanosec: 401000000
  frame_id: base_scan
angle_min: 0.0
angle_max: 6.28000020980835
angle_increment: 0.01749303564429283
time_increment: 0.0
scan_time: 0.0
range_min: 0.11999999731779099
range_max: 3.5
ranges:
- .inf
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- .inf
- .inf
- .inf
- .inf
- .inf
- 3.0582165718078613
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- 3.019754409790039
- 2.013763427734375
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- .inf
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- 0.9902486205101013
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- 2.4367904663085938
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- 2.4618146419525146
- 2.516110897064209
- .inf
- .inf
- .inf
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- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- .inf
- 1.7563879489898682
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- 1.3044440746307373
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- 1.1584810018539429
- 1.1636221408843994
- 1.154280185699463
- 1.1418572664260864
- 1.104804277420044
- 1.1311993598937988
- '...'
intensities:
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---