$ sudo apt-get install ros-foxy-gazebo-*


$ sudo apt install ros-foxy-cartographer
$ sudo apt install ros-foxy-cartographer-ros

$ sudo apt install ros-foxy-navigation2
$ sudo apt install ros-foxy-nav2-bringup

$ source ~/.bashrc
$ sudo apt install ros-foxy-dynamixel-sdk
$ sudo apt install ros-foxy-turtlebot3-msgs
$ sudo apt install ros-foxy-turtlebot3

$ sudo apt remove ros-foxy-turtlebot3-msgs
$ sudo apt remove ros-foxy-turtlebot3
$ mkdir -p ~/turtlebot3_ws/src
$ cd ~/turtlebot3_ws/src/
$ git clone -b foxy-devel https://github.com/ROBOTIS-GIT/DynamixelSDK.git
$ git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
$ git clone -b foxy-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

$ echo 'export ROS_DOMAIN_ID=50 #TURTLEBOT3' >> ~/.bashrc
$ source ~/.bashrc
-------------------------
raspberrypi imager로 img 구웠습니다.

$ sudo nano /etc/apt/apt.conf.d/20auto-upgrades

APT::Periodic::Update-Package-Lists "0";
APT::Periodic::Unattended-Upgrade "0";


$ sudo nano /etc/netplan/50-cloud-init.yaml //동일 와이파이


$ sudo reboot

$ systemctl mask systemd-networkd-wait-online.service
$ sudo systemctl mask sleep.target suspend.target hibernate.target hybrid-sleep.targe

$ ssh ubuntu@{IP Address of Raspberry PI}
$ sudo apt update
$ wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros2_foxy_rpi.sh
$ chmod 755 ./install_ros2_foxy_rpi.sh
$ bash ./install_ros2_foxy_rpi.sh

$ sudo apt install python3-argcomplete python3-colcon-common-extensions libboost-system-dev build-essential
$ sudo apt install ros-foxy-hls-lfcd-lds-driver
$ sudo apt install ros-foxy-turtlebot3-msgs
$ sudo apt install ros-foxy-dynamixel-sdk
$ mkdir -p ~/turtlebot3_ws/src && cd ~/turtlebot3_ws/src
$ git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
$ cd ~/turtlebot3_ws/src/turtlebot3
$ rm -r turtlebot3_cartographer turtlebot3_navigation2
$ cd ~/turtlebot3_ws/
$ echo 'source /opt/ros/foxy/setup.bash' >> ~/.bashrc
$ source ~/.bashrc
$ colcon build --symlink-install --parallel-workers 1
$ echo 'source ~/turtlebot3_ws/install/setup.bash' >> ~/.bashrc
$ source ~/.bashrc

$ sudo cp `ros2 pkg prefix turtlebot3_bringup`/share/turtlebot3_bringup/script/99-turtlebot3-cdc.rules /etc/udev/rules.d/
$ sudo udevadm control --reload-rules
$ sudo udevadm trigger

$ echo 'export ROS_DOMAIN_ID=50 #TURTLEBOT3' >> ~/.bashrc
$ source ~/.bashrc

------------------

ssh ubuntu에 접속한 상태입니다.

$ sudo dpkg --add-architecture armhf
$ sudo apt update
$ sudo apt install libc6:armhf

$ export OPENCR_PORT=/dev/ttyACM0
$ export OPENCR_MODEL=burger
$ rm -rf ./opencr_update.tar.bz2

$ wget https://github.com/ROBOTIS-GIT/OpenCR-Binaries/raw/master/turtlebot3/ROS2/latest/opencr_update.tar.bz2
$ tar -xjf ./opencr_update.tar.bz2

$ cd ~/opencr_update
$ ./update.sh $OPENCR_PORT $OPENCR_MODEL.opencr

---------------------
ssh에 접속한 상태입니다.

$ export TURTLEBOT3_MODEL=burger
$ ros2 launch turtlebot3_bringup robot.launch.py

에서 문제가 생긴 것입니다.