1. installation and build the file

install dependent packages

sudo apt-get install ros-melodic-joy ros-melodic-teleop-twist-joy ros-melodic-teleop-twist-keyboard ros-melodic-laser-proc ros-melodic-rgbd-launch ros-melodic-depthimage-to-laserscan ros-melodic-rosserial-arduino ros-melodic-rosserial-python ros-melodic-rosserial-server ros-melodic-rosserial-client ros-melodic-rosserial-msgs ros-melodic-amcl ros-melodic-map-server ros-melodic-move-base ros-melodic-urdf ros-melodic-xacro ros-melodic-compressed-image-transport ros-melodic-rqt-image-view ros-melodic-gmapping ros-melodic-navigation ros-melodic-interactive-markers ros-melodic-ros-control ros-melodic-ros-controllers

install gazebo_ros_control

sudo apt-get install ros-melodic-gazebo-ros-pkgs ros-melodic-gazebo-ros-control

down load source file

git clone https://github.com/kaistcapstone/capstone1_ROS_gazebo

build the code

cd ~/capstone1_ROS_gazebo
catkin_make

2. running the code

map open

roslaunch map_generate import_world.launch

swapn the robot

roslaunch turtlebot3_description spawn_turtlebot3.launch

launch the controller_manager

roslaunch junny_control junny_control.launch

steer the robot

rosrun turtlebot3_teleop turtlebot3_teleop_key

->              q     w     e
                a     s     d
                      x

w: linear velocity increase
a: angular velocity increase to clockwise
s: stop
d: angular velocity increase to counter-clockwise
x: linear velocity decrease

detect and publish ball position from camera image

rosrun ball_detection ball_detect_node

draw the lidar data and ball position

rosrun data_integrate data_show_node