This snap automatically spawn a roscore and the core components for the TurtleBot3 (controller, robot_state_publisher etc).
By default, the snap is configured for the 'waffle_pi' TurtleBot3 model. To select another robot model (waffle or burger) run the following,
snap set turtlebot3c-bringup turtlebot3-model=burger
Similarly, the snap is configured to consider the lidar model LDS-01. To select the other lidar for the robot run the following,
snap set turtlebot3c-bringup lds-model=LDS-02
This snap is meant to run on the TurtleBot3 robot, but it can also be used with the simulation.
In order to use it with the simulation, issue the following in the terminal,
snap set turtlebot3c-bringup simulation=true
By default the snap doesn't run auto update on the OpenCR board. To select auto update
snap set turtlebot3c opencr-auto-update=true
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Snaps are applications packaged with all their dependencies to run on all popular Linux distributions from a single build. They update automatically and roll back gracefully.
Snaps are discoverable and installable from the Snap Store, an app store with an audience of millions.
Snap is available for CentOS 7.6+, and Red Hat Enterprise Linux 7.6+, from the Extra Packages for Enterprise Linux (EPEL) repository. The EPEL repository can be added to your system with the following command:
sudo yum install epel-release
Snap can now be installed as follows:
sudo yum install snapd
Once installed, the systemd unit that manages the main snap communication socket needs to be enabled:
sudo systemctl enable --now snapd.socket
To enable classic snap support, enter the following to create a symbolic link between /var/lib/snapd/snap and /snap:
sudo ln -s /var/lib/snapd/snap /snap
Either log out and back in again, or restart your system, to ensure snap’s paths are updated correctly.
To install turtlebot3c-bringup, simply use the following command:
sudo snap install turtlebot3c-bringup
Browse and find snaps from the convenience of your desktop using the snap store snap.
Interested to find out more about snaps? Want to publish your own application? Visit snapcraft.io now.