Turtlebot setup Gazebo ROS

Turtlebot is a robot kit with open-source software.
Here we are using turtlebot to create a map of a virtual world and then use it to navigate around.

We are assuming that you have installed turtlebot already.
Go through Turtlebot installation to install turtlebot.

• Launch the turtlebot_world file to run the turtlebot in simulation.

roslaunch turtlebot_gazebo turtlebot_world.launch

• Run teleop_key to move the bot.

roslaunch turtlebot_teleop keyboard_teleop.launch

• Run Rviz to visualize it-

rosrunu rviz rviz

In rviz,
-- make sure that your fixed frame is 'map'.

-- Topic of point cloud 2 is '/camera/depth/points', which will help in creating the point cloud.

-- Topic of marker array is '/occupied_cells_vis_array'.

• Set the transform between map and odom.

rosrun tf static_transform_publisher 0 0 0 0 0 0 1 map odom 10

Refer to turtlebot_gazebo tut1 and turtle gazebo tut2 for more information