1、安装

cd ~/ros2_ws/src/

sudo apt install ros-foxy-gazebo-ros-pkgs

git clone -b foxy-devel https://github.com/ROBOTIS-GIT/DynamixelSDK.git

git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git

git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3.git

git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

编译

cd ..

colcon build --symlink-install

添加环境变量

echo 'source ~/ros2_ws/install/setup.bash' >> ~/.bashrc

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

添加环境变量

echo 'export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/ros2_ws/src/turtlebot3/turtlebot3_simulations/turtlebot3_gazebo/models' >> ~/.bashrc

source ~/.bashrc

依赖安装：

sudo apt-get install ros-foxy-gazebo-*

sudo apt install ros-foxy-cartographer

sudo apt install ros-foxy-cartographer-ros

sudo apt install ros-foxy-navigation2

sudo apt install ros-foxy-nav2-bringup

2、运行

运行gazebo
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

运行键盘控制

ros2 run turtlebot3_teleop teleop_keyboard