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gazebo_ros_turtlebot3.cpp with real robot (waffle)

asked 2018-01-28 11:06:26 -0500

RubensQRZ gravatar image

updated 2018-01-31 01:52:39 -0500

jayess gravatar image


I would like to know why the gazebo_ros_turtlebot3.cpp, used to make the turtlebot3 autonomously navigates in the gazebo 3D, does not work with the real robot? I am using a turtlebot3 waffle. What changes do I have to make in the cpp code, or in the launch file, in order to make it works with the real robot?

What I mean is, if I run roslaunch turtlebot3_gazebo turtlebot3_world.launch and after that I run roslaunch turtlebot3_gazebo turtlebot3_simulation.launch the turtlebot3 navigates into the simulator. But, if I run roscore in the pc, and, after that, I run roslaunch turtlebot3_bringup turtlebot3_robot.launch in the turtlebot3 waffle, and then run roslaunch turtlebot3_gazebo turtlebot3_simulation.launch the turtlebot3 does not navegate, it just spins around itself. But, if i run roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch, I can teleoperate the robot normaly using the keyboard.


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answered 2018-01-31 01:35:20 -0500

tfoote gravatar image

Gazebo is the simulator. The launch file turtlebot3_simulation.launch is designed to work within the simulation not in the real robot. turtlebot3_simulation.launch is a demo that will help you see a fully functioning system in the simulation.

For instructinos on how to bring up the TB3 please see:

There are other sections with instructions on how to setup navigation:

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answered 2018-02-20 18:59:57 -0500

Gilbert gravatar image

If you want to navigate the turtlebot3 in real, you need a map using SLAM.

For instructions on how to make a map please see :

After try navigation.

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Last updated: Jan 31 '18