package 설치

sudo apt install ros-foxy-robot-localization

sudo apt install ros-foxy-gazebo-*

sudo apt install ros-foxy-robot-state-publisher

sudo apt install ros-foxy-joint-*

sudo apt install ros-foxy-slam-toolbox

sudo apt install ros-foxy-navigation2

sudo apt install ros-foxy-nav2-*

sudo apt install ros-foxy-turtlebot3*

bashrc 설정

• turtlebot 모델과 시뮬레이션 환경을 불러오는 alias를 bashrc에 추가해줍니다.

alias GAZEBO_MODEL_PATH="export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/foxy/share/turtlebot3_gazebo/models"
alias turtlebot3="foxy; export TURTLEBOT3_MODEL=waffle; GAZEBO_MODEL_PATH; echo \\"Turtlebot3 is activated.\\"