Hello , I am currently trying to run TurtleBot2 on ROS2 Humble (on Ubuntu 22.04). I have installed Ubuntu with the Debian packages and proceeded just like @ljaniec setup

Nav2 binaries:

 sudo apt install ros-humble-navigation2
   sudo apt install ros-humble-nav2-bringup
   sudo apt install ros-humble-turtlebot3*
   sudo apt install ros-humble-turtle*
   export TURTLEBOT3_MODEL=waffle
   export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/humble/share/turtlebot3_gazebo/models

Test Launch

ros2 launch nav2_bringup tb3_simulation_launch.py

ROS 2 workspace for sources

cd ~/tb2_ros2_nav2/
mkdir -p ros2_ws/src
cd ~/tb2_ros2_nav2/ros2_ws/src

Clone these Kobuki packages

git clone https://github.com/kobuki-base/kobuki_core.git
git clone https://github.com/kobuki-base/velocity_smoother.git
git clone https://github.com/kobuki-base/cmd_vel_mux.git
git clone https://github.com/kobuki-base/kobuki_ros_interfaces.git
git clone https://github.com/kobuki-base/kobuki_ros.git

Important! Install dependencies (ECL libraries, etc.)

cd ~/tb2_ros2_nav2/ros2_ws/
sudo rosdep install -i --from-path src --rosdistro humble -y

At this point I did some changes since I wasnt able to sudo rosdep install -i --from-path src --rosdistro humble -y. I used git clone in cd ~/tb2_ros2_nav2/ros2_ws/src for :

• git: {local-name: src/sophus, uri: 'https://github.com/stonier/sophus.git', version: release/1.2.x }
• git: {local-name: src/ecltools, uri: 'https://github.com/stonier/ecltools.git', version: devel }
• git: {local-name: src/ecllite, uri: 'https://github.com/CNURobotics/ecllite.git', version: humble-test }
• git: {local-name: src/eclcore.git, uri: 'https://github.com/CNURobotics/eclcore.git', version: humble-test }

After I git cloned them I used rosdep install -i --from-path src --rosdistro humble -y in cd ~/tb2_ros2_nav2/ros2_ws/ which worked and afterwards colcon build --symlink-install. This led to some issues concerning the sophus package. I tried to find a solution for it but nothing would work, so I enabled the warnings (#eclenablecxx_warnings()) in

• eclcore/ecllinear_algebra/CMakeLists.txt
• eclcore/eclgeometry/CMakeLists.txt
• eclcore/eclmanipulators/CMakeLists.txt
• eclcore/eclmobile_robot/CMakeLists.txt
• eclcore/eclcore_apps/CMakeLists.txt
• kobuki_core/CMakeLists.txt
• eclcore/eclstatistics/CMakeLists.txt

which eventually let me colcon build --symlink-install successfully. Afterwards I used git clone in ~/tb2_ros2_nav2/ros2_ws/src for the following packages:

• https://github.com/igrak34/TurtleBot2-on-ROS2
• https://github.com/ros-perception/laser_proc.git (https://github.com/ros-perception/laser_proc/tree/ros2-devel)
• https://github.com/ros-drivers/urg_c.git (https://github.com/ros-drivers/urg_c/tree/ros2-devel)
• https://github.com/ros-drivers/urg_node.git (https://github.com/ros-drivers/urg_node/tree/ros2-devel)
• https://github.com/ros-drivers/urg_node_msgs.git

edited files which cloned old devels and used colcon build --symlink-install again.

Now I am trying to use ros2 launch turtlebot2_bringup turtlebot_bringup.launch.py but it keep giving me this output:

[INFO] [launch]: All log files can be found below /home/autlab3/.ros/log/...

[INFO] [launch]: Default logging verbosity is set to INFO

[ERROR] [launch]: Caught exception in launch (see debug for traceback): Node.init() missing 1 required keyword-only argument: 'executable

I have checked the turtlebot_bringup.launch.py file but was not able to find anything. Could anyone help me with this issue or the sophus issue? Thank you in advance !