> For the complete documentation index, see [llms.txt](https://idminer.gitbook.io/robotis/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://idminer.gitbook.io/robotis/part-1-turtlebot3/15.-ros2/15.1.-she-ding/15.1.1.-pc-de-she-ding/15.1.1.3.-an-zhuang-tb3-ros2-tao-jian.md).

# 15.1.1.3. 安裝 TB3 ROS2 套件

**\[Remote PC 端]** 下載 turtlebot3 套件及安裝跟 ROS2 相依的套件

```
# Install Cartographer dependencies
$ sudo apt install -y \
    google-mock \
    libceres-dev \
    liblua5.3-dev \
    libboost-dev \
    libboost-iostreams-dev \
    libprotobuf-dev \
    protobuf-compiler \
    libcairo2-dev \
    libpcl-dev \
    python3-sphinx
# Install Gazebo9
$ curl -sSL http://get.gazebosim.org | sh
$ sudo apt install ros-dashing-gazebo-*
# Install Navigation2 dependencies
$ sudo apt install -y \
    libsdl-image1.2 \
    libsdl-image1.2-dev \
    libsdl1.2debian \
    libsdl1.2-dev \
    ros-dashing-test-msgs \
    ros-dashing-tf2-sensor-msgs
# Install vcstool
$ sudo apt install python3-vcstool
```