ROS_Kinetic +gazebo7 +turtle

1 如果安装的是ros-kinetic-full-desktop那么应该自带gazebo7.如果不是则需要手动安装，链接如下：http://gazebosim.org/tutorials?tut=install_ubuntu&cat=install

2 安装ros与gazebo的接口：建议源码编译。http://gazebosim.org/tutorials?tut=ros_installing&cat=connect_ros

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws
catkin_make

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

cd ~/catkin_ws/src
git clone https://github.com/ros-simulation/gazebo_ros_pkgs.git -b kinetic-devel

rosdep update
rosdep check --from-paths . --ignore-src --rosdistro kinetic

rosdep install --from-paths . --ignore-src --rosdistro kinetic -y

cd ~/catkin_ws/
catkin_make

3 安装turtlebot的功能包：sudo apt-get install turtlebot-*

4 测试用ros启动gazebo：roslaunch gazebo_ros empty_world.launch出现一个空白世界就对了，耐心等着加载地图

5运行turtlebot的gazebo仿真： roslaunch turtlebot_gazebo turtlebot_world.launch ，应该出现有个带有机器人和简单几个障碍物的世界空间。

6 打开rviz，固定坐标系选择base_link，add激光和相机插件，即可观测到仿真的传感器数据。