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ros:turtlebot:simu [2013/12/14 16:25] – redoxros:turtlebot:simu [2014/02/14 12:39] – [Connectivity and bugs] towa45
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 If you see your robot, your simulation should run correctly. You can check all the ROS nodes ans topics by launching If you see your robot, your simulation should run correctly. You can check all the ROS nodes ans topics by launching
-    rqt-graph+    rqt_graph
 You should see a /gazebo bubble replacing the robot when you are playing with the real robot. You should see a /gazebo bubble replacing the robot when you are playing with the real robot.
 That means you can now use the usual demo software for the turtlebot such as keyboard teleop, revitz navigation, SLAM, ... That means you can now use the usual demo software for the turtlebot such as keyboard teleop, revitz navigation, SLAM, ...
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 You will create your physical world in gazebo (placing obstacles, creating a world) and then everything should be as if you were using the real robot including sensons feedback. You will create your physical world in gazebo (placing obstacles, creating a world) and then everything should be as if you were using the real robot including sensons feedback.
  
-##Advaced simulation+##Advanced simulation
  
 If you are bored of the flat map, you cal load a map with some obstacles: If you are bored of the flat map, you cal load a map with some obstacles:
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 I had more problems with I had more problems with
     roslaunch turtlebot_gazebo turtlebot_playground.launch     roslaunch turtlebot_gazebo turtlebot_playground.launch
-first launch usualy returns a segmentation fault + 
-second launch usualy works without segfault but seems to strugle a little to download files and run simulation. +It seems to be a bit tricky to get the gmapping working with gazebo. 
-After the second try, gazebo is launched and we can see the turtlebot and the environment. + 
-When launching gmaping SLAM example, I get stuck on a recusive: +My success to make it work is random for now. 
-    update ld=3.3651e-05 ad=0.000384513 + 
-    Laser Pose= 0.219767 -0.197273 -2.03917 +I'm followig the procedure: 
-    m_count 321 + 
-    Average Scan Matching Score=139.592 +* launch gazebo (turtlebot emty world) 
-    neff= 79.9996 +* wait until gazebo displays the robot 
-    Registering Scans:Done +* launch the gazebo gmapping demo 
-    update frame 1355 +* waint until you see the SLAM running: this step often fails, and SLAM never starts, I don't know why... 
-    update ld=3.05822e-05 ad=0.000347994 +* then you can set up your gazebo environment (willowgarage for instance) 
-    Laser Pose= 0.219738 -0.197264 -2.03882 +* finaly you should be able to run rviz view_navigation and build your map with a teleop. 
-    m_count 322 + 
-I started with m_count=0 and stoped manualy at m_count 322 after around 30min. something went wrong...+EDIT: Apparently you shoud run the gmapping demo just after lanching gazebo instead of waiting for gazebo being completely launched... weird??? 0_o 
 + 
 +EDIT 2: A solution to fix this issue is to merge gmapping_demo.launch and turtlebot_empty_world.launch (or playgroud) and save it under another name, because you don't necessary need to run gmapping with a simulation. 
 +You can simply add this line at the end of the turtlebot_empty_world.launch file, just before </launch> 
 + 
 +    <include file="$(find turtlebot_navigation)/launch/includes/gmapping.launch.xml"/> 
 +It works fine for me (Ubuntu 13.10, ROS hydro compiled from source)
  
 ##Next steps ##Next steps