Here, you will be developing a mini project that illustrates everything you have learnt so far. Use ConstructSim as it’s perfect for what you may have to do.

Project A

1. Setup a ROS workspace for controlling TurtleBot3
2. Include code for Publishing and Subscribing as intended - you can make the bot go forward and turn right when it sees an obstacle, or something as simple as that

To use TurtleBot3, you must run export TURTLEBOT3_MODEL=burger in the terminal before launching it.

Launch file Package: turtlebot3_gazebo File: turtlebot3_world.launch.py

Node Package: turtlebot3_teleop Node name: teleop_keyboard

Project B

1. Find a GitHub repository online that contains a …_description directory or something with a Gazebo component to it, clone it in your ROS workspace
2. If control scripts for that robot already exist, try understanding it and modifying it to do something else

If you aren’t familiar with Python, the documentation is available here:

3.12.2 Documentation

GitHub - ROBOTIS-GIT/turtlebot3 at humble-devel

GitHub - ROBOTIS-GIT/turtlebot3_simulations at humble-devel

Package create command: ros2 pkg create --build-type ament_python <package name>