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Handy Commands

TurtleBot3 Control

  • roslaunch turtlebot3_fake turtlebot3_fake.launch - Launch the TB3 Fake Turtlebot Simulator plus RViz
  • roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch - Launch TB3 teleop
  • roslaunch turtlebot3_gazebo turtlebot3_simulation.launch - Drives a turtlebot around on autopilot

Gazebo worlds

  • roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch - Empty world - no walls
  • roslaunch turtlebot3_gazebo turtlebot3_stage_1.launch - Simple square walled area
  • roslaunch turtlebot3_gazebo turtlebot3_stage_2.launch - Simple square walled area
  • roslaunch turtlebot3_gazebo turtlebot3_stage_3.launch - Simple square walled area
  • roslaunch turtlebot3_gazebo turtlebot3_world.launch - Weird 6 sided wall world
  • roslaunch turtlebot3_gazebo turtlebot3_house.launch - Elaborate house world

Running RViz with Gazebo

  • roslaunch turtlebot3_gazebo turtlebot3_gazebo_rviz.launch - Not sure why its needed.