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The TurtleBot3 does all of this and has a simulation repo for Gazebo. It also works with both ROS and ROS2 with very nice official documentation on their website.
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Okay guys, thanks very much, I understood the actions! Now I’m confused about xml and urdf stuff. The idea is to make a 2-wheel robot moving in gazebo, but how to make it? I really demotivates bcs ros topics doesn’t give any good explanation…
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Big question