Running humble on Turtlebot3

edit

I used the newest ROS 2 on the older TB2:

• https://github.com/igrak34/TurtleBot2...

So if you can manage to build the drivers from source for TB3 you should be good to go. Perhaps more advanced packages could be harder to compile, we could help you with them.

EDIT:

For these packages to work you have to set up source build of the kobuki-base, clone these in your ros2_ws/src, with rosdep install before building them - I have these commands on hand for my setup:

ROS 2 setup after installation (https://docs.ros.org/en/galactic/Inst...)

echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
sudo apt install python3-colcon-common-extensions
echo "source /usr/share/colcon_cd/function/colcon_cd.sh" >> ~/.bashrc
echo "export _colcon_cd_root=/opt/ros/humble/" >> ~/.bashrc
echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" >> ~/.bashrc

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

Build Kobuki packages

colcon build --symlink-install

At the moment TurtleBot3 Does not support Humble It supports Kinetic Melodic, Noetic, Dashing, and Foxy. You can see the installation list here: https://emanual.robotis.com/docs/en/p...

It comes from:

https://github.com/ROBOTIS-GIT/emanua...