Turtlebot 2 - Installation guide with Ubuntu 20.04
This is a short installation guide for Turtlebot2 on Ubuntu 20.04 using ROS Noetic done by a student in 06/2023.
The main way of doing so is by downloading previous supported versions of the source libraries (e.g turtlebot2 melodic libs) and using those we can create a catkin workspace that just needs to get referenced to get all the important nodes from turtlebot2.
Install kobuki
# create a workspace
mkdir ./kobuki_ws/src/ -p
cd ./kobuki_ws/src/
Copy the following file into your current folder: https://github.com/Aoi-hosizora/turtlebot2-on-noetic/blob/master/kobuki.sh
Edit this line within the file from:
git clone --branch release/0.7-melodic https://github.com/yujinrobot/kobuki_msgs.git
to
git clone --branch melodic https://github.com/yujinrobot/kobuki_msgs.git
then execute the following commands:
sh ./kobuki.sh
# make
cd ../
catkin_make
# source
source ./devel/setup.bash
Make sure to always reference kobuki setup.bash script (or just source it within the ~/.bashrc)
Install turtlebot2
Now outside of your previous workspace, create a new one:
# create workspace
mkdir ./turtlebot2_ws/src/ -p
cd ./turtlebot2_ws/src/
Source kobuki workspace:
source <path_to_kobuki_ws>/kobuki_ws/devel/setup.bash
Copy the following file into your current folder: https://github.com/Aoi-hosizora/turtlebot2-on-noetic/blob/master/turtlebot2.sh
Install and source as you did for kobuki:
sh ./turtlebot2.sh
# make
cd ..
catkin_make
# source
source ./devel/setup.bash
Everything should be done and turtlebot2 nodes should be operational !
Try to execute those commands* while the turtlebot 2 is on and connected via USB:
roscore
roslaunch turtlebot_bringup minimal.launch
roslaunch turtlebot_teleop keyboard_teleop.launch
*: Execute them in different terminals
If your turtlebot moves according to the control displayed then everything went fine.