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## note =
## for the canned note of "This tutorial assumes that you have completed the previous tutorials:" just add the links 
## note.0= [[turtlebot/Tutorials/indigo/Turtlebot Installation|TurtleBot Installation]]
## descriptive title for the tutorial
## title = Gazebo Bringup Guide
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## description = See the simulated turtlebot in Gazebo.
## the next tutorial description (optional)
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## next.0.link=[[turtlebot_gazebo/Tutorials/indigo/Explore the Gazebo world|Explore the Gazebo world]]
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||<style="border: 1px solid black; background-color:#5bc0de; text-align: center; vertical-align:top;" tablewidth="100%">Bringup Turtlebot.||

<<TableOfContents(4)>>

== Overview ==

In this tutorial, we will bring up the turtlebot in the Gazebo simulator. This tutorial assumes you have completed [[turtlebot/Tutorials/indigo/Turtlebot Installation|TurtleBot Installation]].

== Execution ==

The following command starts the turtlebot in the simulated world

{{{
$ roslaunch turtlebot_gazebo turtlebot_world.launch
}}}

{{attachment:gazebo.png|alt text|width=500}}

== Notes ==
 
 * Note that Gazebo may update its model database when it is started for the first time. This may take a few minutes.
 * If your terminal is not already pre-configured with the ROS environment variables, you need to set them in each new terminal you open. Just execute this command *before* you execute any other ROS commands:

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

== What Next? ==

 * [[turtlebot_gazebo/Tutorials/indigo/Explore the Gazebo world|Explore the Gazebo world]] or return to [[Robots/TurtleBot|TurtleBot main page|&distro=indigo]].

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