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Learning ROS for Robotics Programming by Enrique Fernández, Aaron Martinez

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TurtleBot – the low-cost mobile robot

TurtleBot integrates in several simple and low-cost state-of-the-art hardware devices such as Microsoft's Kinect sensor, Yujin Robot's Kobuki, and iRobot's Create. It is a moving platform intended for indoor environments and with 3D perception capabilities by means of the Kinect. It is also easy to include more devices or even use with our own laptop to test our software, as it has several platforms at different heights, as the next picture shows:

TurtleBot – the low-cost mobile robot

Installing the TurtleBot simulation

The simulator of the TurtleBot does not come with the ROS repositories, so clone the turtlebot_simulator repository:

git clone https://github.com/turtlebot/turtlebot_simulator.git ...

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