turtlebot2_rplidar

Turtlebot2 simulation with RPLidar and a RGBD camera

Dependancies

Install gazebo dependancies

sudo apt-get install ros-melodic-gazebo-ros
sudo apt-get install ros-melodic-gazebo-plugins
sudo apt-get install pyqt5-dev-tools

Install melodic dependancies

sudo apt-get install ros-melodic-xacro
sudo apt-get install ros-melodic-ecl-*
sudo apt-get install ros-melodic-joy
sudo apt-get install ros-melodic-yocs-controllers 
sudo apt install ros-melodic-yujin-ocs

sudo apt-get install ros-melodic-rqt-plot 
sudo apt-get install ros-melodic-robot-state-publisher
sudo apt-get install ros-melodic-rqt-robot-dashboard

Install Turtlebot dependancies

sudo apt-get install libusb-dev
sudo apt-get install libftdi-dev

Clone to ROS Workspace

mkdir -p ros_ws/src
cd ros_ws/src
git clone --single-branch --branch melodic https://github.com/yujinrobot/kobuki.git
git clone --single-branch --branch melodic https://github.com/yujinrobot/kobuki_msgs.git
git clone --single-branch --branch melodic https://github.com/yujinrobot/kobuki_core.git
git clone --single-branch --branch melodic https://github.com/turtlebot/turtlebot.git 
git clone --single-branch --branch melodic https://github.com/yujinrobot/kobuki_desktop.git

git clone https://github.com/arjunskumar/turtlebot2_rplidar.git

cd .. && catkin_make

Launch the Turtlebot2 in Gazebo

source devel/setup.bash
roslaunch turtlebot2_rplidar_gazebo turtlebot_world.launch

If following error occurs

[Err] [REST.cc:205] Error in REST request

Change the url to url: https://api.ignitionrobotics.org inside ~/.ignition/fuel/config.yaml file