Simulator (GAZEBO)

Setup the envionment (noetic)

1.- inside your workspace: cd tb3_sim/models

2.- pwd -> this is the path of the models copy this path and paste in the next step

3.- export [path of the models]

GAZEBO

Gazebo is an open source simulator, integrated in ROS packages:

• kobuki in gazebo in an empty world: roslaunch kobuki_gazebo kobuki_empty_world.launch

• complete kobuki in gazebo in a house: roslaunch robots sim.launch

*run nodes as if you were working with the real robot

Other interesting launchers for kobuki:

• launch the whole kobuki topics (for real robot): roslaunch kobuki_node minimal.launch

• teleoperate the robot whith keyboard arrows: roslaunch kobuki_keyop keyop.launch

You can create your own scenario, it's just simple than:

1. open Gazebo
2. Go to: Edit -> Building Editor
3. create your own house
4. Save your new scene

RVIZ

rviz is not a simulator as gazebo is a "expresion" of the sensors and actuators of the robot and what things they are doing.

• launch rviz rosrun rviz rviz