1.6.2 Launching the TurtleBot3 Simulation

Once the TurtleBot3 packages and Gazebo are installed, you can launch the simulation.

1. Step 1: Launch the Simulation in Gazebo

   Use the following command to open the TurtleBot3 world in Gazebo:

   ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

   This command does a few things:

   • ros2 launch: Runs launch files in ROS 2.

   • turtlebot3_gazebo: The package containing the TurtleBot3 Gazebo files.

   • turtlebot3_world.launch.py: The launch file that starts Gazebo with a predefined TurtleBot3 environment.

   You should see a virtual environment with the TurtleBot3 model ready to be controlled.

2. Step 2: Visualizing the Robot in Rviz

   In parallel with Gazebo, you can visualize the robot in Rviz, a 3D visualization tool in ROS. Rviz helps you understand the robot's sensors, position, and movements.

   ros2 launch turtlebot3_bringup rviz2.launch.py