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.
Everything needed is available in 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
Build the following package:
A simple maze exploration demo can now be started:
roslaunch hlugv_gazebo_launch hlugv_lidar_maze_exploration.launch