Loading TurtleBot 2 simulator software

This section deals with loading software packages for the TurtleBot simulator. The physical TurtleBot is not involved because these software packages are loaded on your laptop or desktop computer. It is assumed that Ubuntu 16.04 and ROS Kinetic software are installed on the computer that you will use for the simulation. This installation is described in the Installing and launching ROS section in Chapter 1, Getting Started with ROS.

Note

Note that TurtleBot 2 software has not been completely upgraded to Kinetic as of this writing. On the ROS wiki, the latest supported release of TurtleBot 2 documentation is Indigo.

In a terminal window, type the following command:

$ sudo apt-get install ros-kinetic-turtlebot ros-kinetic-turtlebot-apps ros-kinetic-turtlebot-interactions ros-kinetic-turtlebot-simulator ros-kinetic-kobuki-ftdi ros-kinetic-turtlebot-gazebo

A large number of ROS packages are loaded by the sudo apt-get command. The groups are as follows:

• The TurtleBot software has ROS packages to simulate TurtleBot and control the real TurtleBot. The TurtleBot simulator download includes the turtlebot_gazebo package.
• The Kobuki software consists of ROS packages used to drive or simulate the mobile base.

To view the TurtleBot packages downloaded in each category, type the following command:

$ rospack list | grep turtlebot

To see the packages that apply to the base, type the following command:

$ rospack list | grep kobuki

The other software can be viewed in a similar way.