turtlebot3 simulation

# Terminal 1 - Launch Gazebo with TurtleBot3 roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch setenv('ROS_MASTER_URI', 'http://localhost:11311') % or if ROS master is on same machine setenv('ROS_IP', '100.64.129.99') % your Wi-Fi IP address here rosinit under unitree_legged_msgs folder in matlab: rosgenmsg >>addpath('/home/bijen/bijen_ws/src/matlab_msg_gen_ros1/glnxa64/install/m') savepath >> clear classes rehash toolboxcache >>rosmsg list % 1. Connect to ROS (assuming roscore is running and Gazebo is started) rosinit('http://:11311') % Replace with actual ROS master IP % 2. Create publisher pub = rospublisher('/fourbar_description/j1_lf_controller/command', 'unitree_legged_msgs/MotorCmd'); % 3. Create message msg = rosmessage(pub); % 4. Set fields msg.Mode = int32(10); msg.Q = 0.0; msg.Dq = 0.0; msg.Tau = 0.0; msg.Kp = 0.0; msg.Kd = 0.0; msg.Reserve = int32([0 0 0]); % 5. Publish send(pub, msg); Add a MATLAB Prefs Setting (Safe Method) From a working MATLAB session (even if launched via terminal), type: opengl('save','software') // to avoid error while opening simulink //for odom readings