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 can be installed from the command line on openSUSE Leap 15.x and Tumbleweed.
You need first add the snappy repository from the terminal. Leap 15.5 users, for example, can do this with the following command:
sudo zypper addrepo --refresh https://download.opensuse.org/repositories/system:/snappy/openSUSE_Leap_15.5 snappy
Swap out openSUSE_Leap_15.5 for openSUSE_Leap_15.4 or openSUSE_Tumbleweed if you’re using a different version of openSUSE.
With the repository added, import its GPG key:
sudo zypper --gpg-auto-import-keys refresh
Finally, upgrade the package cache to include the new snappy repository:
sudo zypper dup --from snappy
Snap can now be installed with the following:
sudo zypper install snapd
You then need to either reboot, logout/login or source /etc/profile to have /snap/bin added to PATH.
Additionally, enable and start both the snapd and the snapd.apparmor services with the following commands:
sudo systemctl enable --now snapd
sudo systemctl enable --now snapd.apparmor
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.