ros2 运行Turtlebot3仿真

要在ROS 2中运行Turtlebot3仿真，您需要先安装Turtlebot3 ROS 2软件包。以下是在Ubuntu 20.04上安装Turtlebot3 ROS 2软件包的步骤：

1. 添加ROS 2软件源

   sudo apt update
   sudo apt install curl gnupg2 lsb-release
   curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
   sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'

2. 安装Turtlebot3 ROS 2软件包

   sudo apt update
   sudo apt install ros-foxy-turtlebot3 ros-foxy-turtlebot3-msgs ros-foxy-turtlebot3-simulations

3. 运行Turtlebot3仿真

   source /opt/ros/foxy/setup.bash
   ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

这将启动Gazebo仿真器并加载Turtlebot3仿真模型。您可以使用键盘控制Turtlebot3运动，或使用ROS 2话题和服务与Turtlebot3交互。