下载功能包

cd ~/catkin_ws/src/
git clone -b noetic-devel https://gitee.com/kay2020/turtlebot3_simulations.git
cd ~/catkin_ws && catkin_make

　　

测试

export TURTLEBOT3_MODEL=waffle_pi
roslaunch turtlebot3_gazebo turtlebot3_house.launch

　　

键盘控制仿真中的机器人

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch