아래 항목들을 설치 해줍니다.

Install Dependencies

sudo apt-get install ros-foxy-gazebo-* -y
sudo apt install ros-foxy-cartographer -y 
sudo apt install ros-foxy-cartographer-ros -y
sudo apt install ros-foxy-navigation2 -y
sudo apt install ros-foxy-nav2-bringup -y
sudo apt install ros-foxy-dynamixel-sdk -y
sudo apt install ros-foxy-turtlebot3-msgs -y
sudo apt install ros-foxy-turtlebot3 -y
sudo apt install ros-foxy-turtlebot3* -y
sudo apt install ros-foxy-slam-toolbox -y

다음 환경변수를 ~/.bashrc에 추가합니다.

export TURTLEBOT3_MODEL=waffle

[SLAM]

[Terminal 1]

<aside> 💡

turtlebot3 gazebo simulation 환경 실행

</aside>

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py