Gazebo simulation with Turtlebot 3 for recognizing AR Tags
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README.md

tb3_gazebo

Gazebo simulation with Turtlebot 3 for recognizing AR Tags

demo

Requirements

  • ROS Kinetic + Gazebo
  • tb3_description (URDF file of turtlebot 3)
  • Joy Package (optional)
  • rqt (optional)

Installation

If you have an active ROS workspace, clone or download the repository into the src directory of your workspace:

$ cd ~/catkin_ws/src
$ git clone https://github.com/aaronzguan/tb3_gazebo.git

Next install missing dependencies using rosdep install:

$ cd ~/catkin_ws
$ rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y

Build:

$ cd ~/catkin_ws
$ catkin_make

If you haven’t already, the following line can be added to your .bashrc to auto-source all new terminals:

source ~/catkin_ws/devel/setup.bash

Usage

$ roslaunch tb3_gazebo tb3_gazebo.launch

In a new terminal tab you can launch rqt:

$ rqt

Then in the Plugins menu, select "Robot Tools", and "Robot Steering".