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## note.0= [[turtlebot_gazebo/Tutorials/indigo/Gazebo Bringup Guide|Gazebo Bringup Guide]]
## descriptive title for the tutorial
## title = Explore the Gazebo world
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## description = Cruise around in the Gazebo world and use RViz to "see" what's in it.
## the next tutorial description (optional)
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## next.0.link=[[turtlebot_gazebo/Tutorials/indigo/Make a map and navigate with it|Make a map and navigate with it]]
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## keywords = keyop, rviz
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<<IncludeCSTemplate(TutorialCSHeaderTemplate)>>

||<style="border: 1px solid black; background-color:#5bc0de; text-align: center; vertical-align:top;" tablewidth="100%">Bringup Turtlebot, see what the robot senses, teleoperate in Gazebo simulation.||

<<TableOfContents(4)>>

== Overview ==

In this tutorial we will use the keyboard teleop tool from the [[turtlebot_teleop]] package to drive the TurtleBot around and use RViz to visualise the sensor data.

== Preparations ==

First we need to install the [[turtlebot_teleop]] package. Since we will use other apps in the later tutorials, we will install all [[turtlebot_apps|TurtleBot apps]] already.

For convenience we will additionally install a set of RViz launchers, which will bring up RViz already configured for our use case.

{{{
$ sudo apt-get install ros-indigo-turtlebot-apps ros-indigo-turtlebot-rviz-launchers
}}}

== Make the TurtleBot move ==

First, bring up the TurtleBot simulation as described in the [[turtlebot_gazebo/Tutorials/indigo/Gazebo Bringup Guide|Gazebo Bringup Guide]].

Next, in a second terminal* run the keyboard teleop tool.

{{{
$ roslaunch turtlebot_teleop keyboard_teleop.launch
}}}

For TurtleBot 2 you can also use the [[kobuki_keyop]] tool:

{{{
$ roslaunch kobuki_keyop keyop.launch
}}}

If you prefer other methods to move the robot, be sure to use [[http://docs.ros.org/api/geometry_msgs/html/msg/Twist.html|geometry_msgs/Twist]] topic by the name `/mobile_base/commands/velocity`.


== See what the robot sees ==

Use RViz to visualise various sensory information. In a new terminal* execute:

{{{
$ roslaunch turtlebot_rviz_launchers view_robot.launch
}}}

RViz won't show much at first, since the Gazebo world is empty. So, let's add some objects to it!

{{attachment:turtlebot_gazebo_rviz.png||width=100%}}


== Notes ==

* If your terminals are not already pre-configured with the ROS environment variables, you need to set them in each new terminal you open. Just execute the below command *before* you execute any other ROS commands.

{{{
$ source /opt/ros/indigo/setup.bash
}}}

== What Next? ==

 * [[turtlebot_gazebo/Tutorials/indigo/Make a map and navigate with it|Make a map and navigate with it]] or return to [[Robots/TurtleBot|TurtleBot main page|&distro=indigo]].

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