shrey141102 / ROS

Gazebo simulation website

https://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/#gazebo-simulation

$ cd ~/catkin_ws/src/
$ git clone -b kinetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
$ cd ~/catkin_ws && catkin_make

ActionLib

$ cd %YOUR_CATKIN_WORKSPACE%/src
$ catkin_create_pkg actionlib_tutorials actionlib message_generation roscpp rospy std_msgs actionlib_msgs

Actions using Goals

https://wiki.ros.org/actionlib_tutorials/Tutorials/SimpleActionServer%28GoalCallbackMethod%29

To manually generate the message files from this file:


$ roscd actionlib_tutorials
$ rosrun actionlib_msgs genaction.py -o msg/ action/Averaging.action

To automatically generate the message files during the make process, add the following to CMakeLists.txt:

find_package(catkin REQUIRED COMPONENTS actionlib std_msgs message_generation) 
add_action_files(DIRECTORY action FILES Averaging.action)
generate_messages(DEPENDENCIES std_msgs actionlib_msgs)