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## descriptive title for the tutorial
## title = Simple Exploration of Unknown Environments in Simulation
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## description =  This tutorial shows you how to start a simulation scenario with a robot exploring a maze scenario using the Gazebo simulator 

<<TableOfContents(4)>>

= Overview =
This tutorials shows how to start a small differential drive robot inside a maze environment in gazebo simulation. The robot performs autonomous exploration of this environment.

= Setup =

== Prerequisites ==
Everything needed is available in [[http://code.google.com/p/tu-darmstadt-ros-pkg/|tu darmstadt ros pkg]], you can thus check the repo out:
{{{
svn checkout http://tu-darmstadt-ros-pkg.googlecode.com/svn/trunk tu-darmstadt-ros-pkg
}}}

== Building ==
Build the following package:
{{{
rosmake hlugv_gazebo_launch 
}}}

= Running it =
A simple maze exploration demo can now be started:
{{{
roslaunch hlugv_gazebo_launch hlugv_lidar_maze_exploration.launch 
}}}