For simulation: launch gazebo: roslaunch turtlebot_gazebo turtlebot_world.launch launch gmapping: roslaunch turtlebot_gazebo gmapping_demo.launch run RViz: rosrun rviz rviz

things ToDo: -create a navigation stack using a proper launch file -get move_base to cooperate -test using RViz 2d nav points -implement exploration algorithm as explained in http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.218.8895&rep=rep1&type=pdf