CLEARPATH Turtlebot4 User Manual page 53

Debian installation
To install the metapackage through apt:
sudo apt update
sudo apt install ros-galactic-turtlebot4-simulator ros-galactic-irobot-create-nodes
Source installation
To manually install this metapackage from source, clone the git repository:
cd ~/turtlebot4_ws/src
git clone https://github.com/turtlebot/turtlebot4_simulator.git
Install dependencies:
cd ~/turtlebot4_ws
vcs import src < src/turtlebot4_simulator/dependencies.repos
rosdep install --from-path
Build the packages:
source /opt/ros/galactic/setup.bash
colcon build --symlink-install
Ignition Bringup
The turtlebot4_ignition_bringup
Ignition Gazebo.
Launch files:
● Ignition: Launches Ignition Gazebo and all required nodes to run the simulation.
● ROS Ignition
Ignition topics with ROS topics.
● TurtleBot 4 Nodes: Launches the turtlebot4_node and
required to control the HMI plugin and robot behaviour.
src -yi
package contains launch files and configurations to launch
Bridge: Launches all of the required ros_ign_bridge nodes to bridge
turtlebot4_ignition_hmi_node