Gazebo Hands-on: TurtleBot3 + 3D LiDAR

Created on April 12, 2021

2021   ·   gazebo   turtlebot3   ros2   ·   tech-note

Gazebo Hands-on

  • Load a robot consisting of turtlebot3_burger and a 3D LiDAR (Velodyne) into the Gazebo environment, check the LiDAR data, and perform simple teleoperation.
  • Along with the Gazebo exercise, a brief run of rviz and a look at the tf_tree are also included.

Environment

  • ROS2 (humble)
  • Gazebo 11
  • Turtlebot3_world

Install the Gazebo packages

sudo apt-get update

sudo apt install -y ros-humble-gazebo-ros

sudo apt install -y ros-humble-gazebo-ros-pkgs

Install the Turtlebot3_world package

The test environment is turtlebot3_world configured with turtlebot3_burger with velodyne.

https://github.com/eeoon/turtlebot3_velodyne_Gazebo

Installation

source /opt/ros/humble/setup.bash
sudo apt-get update
mkdir -p eon_ws/src
cd ~/eon_ws/src
git clone https://github.com/eeoon/turtlebot3_velodyne_Gazebo.git
cd ..
colcon build
source install/setup.bash
export TURTLEBOT3_MODEL=burger
. /usr/share/gazebo/setup.sh

Run

ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Results

  • If everything ran correctly, the following screen appears. The right-hand window is the Gazebo environment, showing Turtlebot3_burger in Turtlebot3_World with a Velodyne mounted on top.
  • The left-hand window is rviz2 (rviz in ROS1). rviz2 is the standard ROS tool for visualizing data; changing fixed_frame in the upper left to base_scan visualizes the LiDAR data.

result_picture.png

  • The TF_tree looks as follows.
  • It shows the robot’s link structure in a simple form and the overall structure.
  • TF will be covered in a future post on Transform (TF).

rqt_tf_tree.png

Reference :

turtlebot3_velodyne_gazebo github