TurtleBot3_ROS2_Humble

A quick-start guide and installation scripts for setting up TurtleBot3 on ROS 2 Humble Hawksbill (Ubuntu 22.04 or Virtual Machine).

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🚀 Features

• Automated installation script for ROS 2 Humble and TurtleBot3 packages
• Ready-to-build colcon workspace setup
• Quick start aliases and environment variables

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⚡ Requirements

Before starting, make sure your system meets the following requirements:

• Ubuntu 22.04 (Desktop version recommended)
• Works on physical machine or Virtual Machine (e.g., VirtualBox or VMware)
• At least 8 GB RAM (16 GB recommended for better performance) and at least 50 GB of free disk space
• Internet connection
• Git (Install using: sudo apt install git)

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🖥️ Installation ROS2 for PC

1. 🔁 Clone this repository (install git!!!):

sudo apt install git
git clone https://github.com/shbaydadaev/Turtlebot3_ROS2_Humble.git
cd Turtlebot3_ROS2_Humble

2. ⚙️ Make the install script executable and run it:

sudo chmod +x install_ros2_humble.sh
./install_ros2_humble.sh

3. ✅ Installation complete! Please run:

source ~/.bashrc

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🤖 Installation: ROS 2 on TurtleBot3 (Raspberry Pi)

1. 🔁 Clone This Repository (Make Sure Git Is Installed):

sudo apt update
sudo apt install git -y
sudo apt upgrade
git clone https://github.com/shbaydadaev/Turtlebot3_ROS2_Humble.git
cd Turtlebot3_ROS2_Humble

💡 Note: On the TurtleBot3, you should use install_turtlebot3.sh — not install_ros2_humble.sh.

2. ⚙️ Make the install script executable and run it:

sudo chmod +x install_turtlebot3.sh
./install_turtlebot3.sh

This script will install ROS 2 Humble and TurtleBot3 dependencies on the Raspberry Pi, along with environment setup.

3. ✅ Installation complete! Please run:

After installation, apply your environment settings:

source ~/.bashrc

4. ⚙️ OpenCR Setup (Firmware Flashing):

sudo chmod +x install_OPENCR_turtlebot3.sh
./install_OPENCR_turtlebot3.sh

This step flashes the OpenCR board with the correct firmware for ROS 2. Ensure your OpenCR is connected via USB.

5. (Optional) 📷 Installation Camera Node:

If your TurtleBot3 is equipped with a camera and you'd like to verify it's working, run

sudo chmod +x install_camera_turtlebot3.sh
./install_camera_turtlebot3.sh

To verify the camera:

ros2 launch turtlebot3_bringup camera.launch.py
rqt_image_view

🔁 Reminder: After running each install script (OpenCR, camera), run:

source ~/.bashrc

You’re now ready to use TurtleBot3 with ROS 2!

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📦 Useful Aliases (added to .bashrc)

• cw : Go to workspace → cd ~/turtlebot3_ws
• cs : Go to src folder in workspace → cd ~/turtlebot3_ws/src
• cb : Build workspace → colcon build --symlink-install
• nb : Edit .bashrc → nano ~/.bashrc
• sb : Source .bashrc → source ~/.bashrc

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🛠️ Additional Notes

• TURTLEBOT3_MODEL=burger (If you are using waffle, change it to waffle)
• ROS_DOMAIN_ID=30 (make sure you are using the same domain as your robot)
• RMW_IMPLEMENTATION=rmw_fastrtps_cpp (use the same RMW)
• For simulation and Gazebo, make sure you have a working graphical environment (e.g. install GWSL from Microsoft store)

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📚 References

• TurtleBot3 e-Manual
• ROS 2 Documentation
• Docker Official Docs

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✨ Author

Shokhrukh Baydadaev Contributions and issues welcome!