tb3_humble WIP

Signed-off-by: Will Son <[email protected]>

_includes/en/platform/turtlebot3/quickstart_foxy.md

@@ -10,9 +10,9 @@
 
 {% capture warning_01 %}
 **Compatibility WARNING**  
-- `Jetson Nano` does not support native Ubuntu 20.04. Please refer to [NVIDIA developer forum]{: .blank} for more details.
+- `Jetson Nano` does not support Ubuntu 20.04 and later. Please refer to [NVIDIA developer forum]{: .blank} for more details.
 
-[NVIDIA developer forum]: https://forums.developer.nvidia.com/t/when-will-jetpack-move-to-ubuntu-20-04/142517
+[NVIDIA developer forum]: https://forums.developer.nvidia.com/t/jetpack-5-0-2/223564/2
 {% endcapture %}
 <div class="notice--danger">{{ warning_01 | markdownify }}</div>
 

_includes/en/platform/turtlebot3/quickstart_humble.md

@@ -0,0 +1,99 @@
+
+# Quick Start Guide
+
+<iframe width="560" height="315" src="https://www.youtube.com/embed/8w3xhG1GPdo" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
+
+## [PC Setup](#pc-setup)
+
+**WARNING**: The contents in this chapter corresponds to the `Remote PC` (your desktop or laptop PC) which will control TurtleBot3. Do not apply this instruction to your TurtleBot3.
+{: .notice--danger}
+
+{% capture warning_01 %}
+**Compatibility WARNING**  
+- `Jetson Nano` does not support Ubuntu 20.04 and later. Please refer to [NVIDIA developer forum]{: .blank} for more details.
+
+[NVIDIA developer forum]: https://forums.developer.nvidia.com/t/jetpack-5-0-2/223564/2
+{% endcapture %}
+<div class="notice--danger">{{ warning_01 | markdownify }}</div>
+
+**NOTE**: This instruction was tested on Linux with `Ubuntu 22.04` and `ROS2 Humble Hawksbill`.
+{: .notice--info}
+
+### [Download and Install Ubuntu on PC](#download-and-install-ubuntu-on-pc)
+
+1. Download the proper `Ubuntu 22.04 LTS Desktop` image for your PC from the links below.
+  - [Ubuntu 22.04 LTS Desktop image (64-bit)](https://releases.ubuntu.com/22.04/){: .blank}
+
+2. Follow the instruction below to install Ubuntu on PC.
+  - [Install Ubuntu desktop](https://ubuntu.com/tutorials/install-ubuntu-desktop#1-overview)
+
+
+### [Install ROS 2 on Remote PC](#install-ros-2-on-remote-pc)
+
+Please follow [the official ROS2 documentation](https://docs.ros.org/en/humble/Installation.html) to install the ROS2 Humble.  
+For most Linux users, [Debian package installation](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html) method is strongly recommended.
+
+
+### [Install Dependent ROS 2 Packages](#install-dependent-ros-2-packages)
+
+1. Open the terminal with `Ctrl`+`Alt`+`T` from **Remote PC**.
+2. Install Gazebo
+  ```bash
+$ sudo apt install ros-humble-gazebo-*
+  ```
+3. Install Cartographer
+  ```bash
+$ sudo apt install ros-humble-cartographer
+$ sudo apt install ros-humble-cartographer-ros
+  ```
+4. Install Navigation2
+  ```bash
+$ sudo apt install ros-humble-navigation2
+$ sudo apt install ros-humble-nav2-bringup
+  ```
+
+### [Install TurtleBot3 Packages](#install-turtlebot3-packages)
+
+Install TurtleBot3 via Debian Packages.
+
+```bash
+$ source ~/.bashrc
+$ sudo apt install ros-humble-dynamixel-sdk
+$ sudo apt install ros-humble-turtlebot3-msgs
+$ sudo apt install ros-humble-turtlebot3
+```
+
+<details>
+<summary>
+![](/assets/images/icon_unfold.png) **Click here to expand more details about building TurtleBot3 package from source.**
+</summary>
+In case you need to build the TurtleBot3 packages with source code, please use the commands below.  
+Building the source code provides most up to date contents which may have resolved known issues.  
+Make sure to remove the binary packages to avoid redundancy.  
+```bash
+$ sudo apt remove ros-humble-turtlebot3-msgs
+$ sudo apt remove ros-humble-turtlebot3
+$ mkdir -p ~/turtlebot3_ws/src
+$ cd ~/turtlebot3_ws/src/
+$ git clone -b humble-devel https://github.com/ROBOTIS-GIT/DynamixelSDK.git
+$ git clone -b humble-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
+$ git clone -b humble-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
+$ cd ~/turtlebot3_ws
+$ colcon build --symlink-install
+$ echo 'source ~/turtlebot3_ws/install/setup.bash' >> ~/.bashrc
+$ source ~/.bashrc
+```
+</details>
+
+### [Environment Configuration](#environment-configuration)
+
+1. Set the ROS environment for PC.
+  ```bash
+$ echo 'export ROS_DOMAIN_ID=30 #TURTLEBOT3' >> ~/.bashrc
+$ source ~/.bashrc
+  ```
+
+If you have installed TurtleBot3 using Debian packages with `apt install` command, you can ignore the warning below.  
+```bash
+bash: /home/{$YOUR_ACCOUNT}/turtlebot3_ws/install/setup.bash: No such file or directory
+```

_includes/en/platform/turtlebot3/sbc_setup_foxy.md

@@ -288,7 +288,7 @@ $ cd ~/turtlebot3_ws && colcon build --symlink-install
 
 18. Export the LDS_MODEL to the bashrc file. Depending on your LDS model, use `LDS-01` or `LDS-02`.
 ```bash
-$ echo 'export LDS_MODEL=LDS-01' >> ~/.bashrc
+$ echo 'export LDS_MODEL=LDS-02' >> ~/.bashrc
 ```
 
 19. Apply changes with the command below.