Turtlebot Simulation

• Open a terminal window and type the following:

  roslaunch turtlebot_gazebo turtlebot_empty_world.launch
  

  This should bring up the Turtlebot simulator. Use TAB completion to avoid typing each individual character.
• Switch to the "Insert" tab and add the "Starting Pen" model to the simulation environment. Position it so that the Turtlebot is inside the pen. You may need to move the camera around so that you can still see your robot. The left mouse button pans the camera, the right mouse button zooms the camera, and pressing both buttons allows you to rotate the camera.
• Type the following command into a new terminal window (or tab):

  roslaunch turtlebot_teleop keyboard_teleop.launch
  

  Confirm that you can drive the simulated Turtlebot using the keyboard controls.
• Type the following command into a new terminal window (or tab):

  roslaunch turtlebot_rviz_launchers view_robot.launch
  

  Select the check-boxes associated with "LaserScan" and "Images". You should see a yellow exclamation point appear next to the "Image" field, you can fix that by clicking on the plus and selecting /camera/rgb/image_raw as the image topic. Zoom the camera out (using the mouse scroll wheel) until you can see the visualization of the laser data. Try driving the robot around once again using keyboard teleoperation.
• Once you are finished, press CTRL-C in the teleop terminal. This is the universal command to stop ROS processes in the terminal.