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Wandering Application in a Waffle Gazebo* Simulation

This tutorial shows a TurtleBot* 3 simulated in a waffle world. For more information about TurtleBot* 3 and the waffle world, see this.

Run the Sample Application

  1. If your system has an Intel® GPU, follow the steps in the Getting Started Guide to enable the GPU for simulation. This step improves Gazebo* simulation performance.

  2. Install the Wandering Gazebo tutorial:

    sudo apt-get install ros-humble-wandering-gazebo-tutorial
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  3. Execute the command below to start the tutorial:

    ros2 launch wandering_gazebo_tutorial wandering_gazebo.py
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    Expected output:

    Gazebo* client, rviz2 and RTAB-Map applications start and the robot starts wandering inside the simulation. See the simulation snapshot:

    ../../../_images/gazebo_waffle.png

    Rviz2 shows the mapped area and the position of the robot:

    ../../../_images/wandering-gazebo-rviz2.png

    To enhance performance, set the real-time update to 0 by following the steps below:

    1. In Gazebo*’s left panel, go to the World Tab, and click Physics.

    2. Change the real time update rate to 0.

  4. To conclude, use Ctrl-c in the terminal where you are executing the command.

Troubleshooting

For general robot issues, go to: Troubleshooting for Robot Tutorials.