ROS2 仿真教程 基于humble版本机器人安装

安装colcon 编译工具

 sudo apt install python3-colcon-common-extensions

安装cartographer建图

sudo apt install ros-humble-cartographer

sudo apt install ros-humble-cartographer-ros

安装导航包

sudo apt install ros-humble-navigation2

sudo apt install ros-humble-nav2-bringup

安装vcstool工具

sudo apt install python3-vcstool

gazebo ROS相关包安装

sudo apt install ros-humble-gazebo-ros*

ros2与turtlebot3仿真教程-安装turtlebot3

步骤：
安装git

sudo apt install git

下载编译

 mkdir -p ~/tb3_ws/src

 cd ~/tb3_ws

#humble版本

wget https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/humble-devel/turtlebot3.repos

 vcs import src < turtlebot3.repos

 colcon build --symlink-install

编译成功

编译问题
删掉出错不影响使用然后编译就通过了
添加环境变量

echo 'source ~/tb3_ws/install/setup.bash' >> ~/.bashrc

echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc

source ~/.bashrc

ros2与turtlebot3仿真教程-启动gazebo不同环境