1.6.1 Installing TurtleBot3 and Gazebo Simulation

1. Step 1: Install the TurtleBot3 Packages

   To run a TurtleBot3 simulation, you need to install the relevant packages:

   sudo apt install ros-foxy-turtlebot3*

   This installs the core TurtleBot3 packages, including:

   • TurtleBot3 Description: Defines the robot's appearance and properties.

   • TurtleBot3 Simulation: Files to run the TurtleBot in Gazebo.

2. Step 2: Install Gazebo Gazebo is the simulation environment we’ll use to run and visualize the TurtleBot3 robot. It’s included with ROS, but if not installed:

   sudo apt install ros-foxy-gazebo-ros-pkgs

3. Step 3: Configure Environment Variables TurtleBot3 requires environment variables to define the model you’ll be simulating:

   echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc
   source ~/.bashrc

   The burger model is the smallest and most common version of TurtleBot3.