Laptop: Ubuntu 18.04, Melodic Turtlebot3: Kinetic

In this post, we will explain the method for setting up your laptop with Ubuntu 18.04 and ROS Melodic to work with a Turtlebot3 running on ROS Kinetic. This guide assumes that you have a basic understanding of ROS and have already installed ROS on your PC, along with having access to a Turtlebot3. If you are unfamiliar with ROS, you can find resources such as YouTube tutorials, books, or the ROSwiki for more information. For details regarding source code and execution procedures, please refer to the GitHub repository linked below.

SLAM (GitHub)

In this project, we utilized the Gmapping package within ROS for Simultaneous Localization and Mapping (SLAM) tasks.

PC Setup

1. Connect to your WiFi network and retrieve the IP address using the following command:

ifconfig

Assuming the obtained IP address is 192.168.0.28.

1. Modify the .bashrc file by opening it with the following command:

gedit ~/.bashrc

Append the following lines to the end of the .bashrc file:

export ROS_MASTER_URI=http://192.168.0.28:11311
export ROS_HOSTNAME=192.168.0.28

Afterward, execute the following command:

source ~/.bashrc

Turtlebot3 Setup

1. Connect your Turtlebot3 to the same WiFi network and determine its IP address with the following command:

ifconfig