I run the following instructions to launch turtlebot on gazebo:

export TURTLEBOT_BASE=create
export TURTLEBOT_STACKS=circles
export TURTLEBOT_3D_SENSOR=asus_xtion_pro
roslaunch turtlebot_gazebo turtlebot_empty_world.launch 

I make sure I do not send any twist but the robot move autonomously.

Here are two pictures to verify this:

How to solve this?

Thank you very much!

======

The following is this computer ubuntu 12.04 64bits ROS hydro gazebo messages:

sam@sam:~$ roslaunch turtlebot_gazebo turtlebot_empty_world.launch
WARNING: Package name "sam_receive_gazebo_topic_openCV_publish_image_topic" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
... logging to /home/sam/.ros/log/418c5ed8-873a-11e7-b74c-b8ee65344b7e/roslaunch-sam-14013.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

WARNING: Package name "sam_receive_gazebo_topic_openCV_publish_image_topic" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Package name "sam_receive_gazebo_topic_openCV_publish_image_topic" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Package name "sam_receive_gazebo_topic_openCV_publish_image_topic" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Package name "sam_receive_gazebo_topic_openCV_publish_image_topic" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Package name "sam_receive_gazebo_topic_openCV_publish_image_topic" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
started roslaunch server http://sam:39531/

SUMMARY
========

PARAMETERS
 * /cmd_vel_mux/yaml_cfg_file
 * /depthimage_to_laserscan/output_frame_id
 * /depthimage_to_laserscan/range_min
 * /depthimage_to_laserscan/scan_height
 * /robot_description
 * /robot_pose_ekf/freq
 * /robot_pose_ekf/imu_used
 * /robot_pose_ekf/odom_used
 * /robot_pose_ekf/output_frame
 * /robot_pose_ekf/sensor_timeout
 * /robot_pose_ekf/vo_used
 * /robot_state_publisher/publish_frequency
 * /rosdistro
 * /rosversion
 * /use_sim_time

NODES
  /
    cmd_vel_mux (nodelet/nodelet)
    depthimage_to_laserscan (nodelet/nodelet)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    laserscan_nodelet_manager (nodelet/nodelet)
    mobile_base_nodelet_manager (nodelet/nodelet)
    robot_pose_ekf (robot_pose_ekf/robot_pose_ekf)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_turtlebot_model (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [14042]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 418c5ed8-873a-11e7-b74c-b8ee65344b7e
WARNING: Package name "sam_receive_gazebo_topic_openCV_publish_image_topic" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
process[rosout-1]: started with pid [14056]
started core service [/rosout]
WARNING: Package name "sam_receive_gazebo_topic_openCV_publish_image_topic" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
process[gazebo-2]: started with pid [14071]
WARNING: Package name "sam_receive_gazebo_topic_openCV_publish_image_topic" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Package name "sam_receive_gazebo_topic_openCV_publish_image_topic" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
WARNING: Package name "sam_receive_gazebo_topic_openCV_publish_image_topic" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
process[gazebo_gui-3]: started with pid [14078]
Gazebo multi-robot simulator, version 1.9.6
Copyright (C) 2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

WARNING: Package name "sam_receive_gazebo_topic_openCV_publish_image_topic" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
Gazebo multi-robot simulator, version 1.9.6
Copyright (C) 2014 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

WARNING: Package name "sam_receive_gazebo_topic_openCV_publish_image_topic" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
process[spawn_turtlebot_model-4]: started with pid [14087]
WARNING: Package name "sam_receive_gazebo_topic_openCV_publish_image_topic" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
process[robot_pose_ekf-5]: started with pid [14090]
[ INFO] [1503406996.323939565]: Finished loading Gazebo ROS API Plugin.
Msg Waiting for master
[ INFO] [1503406996.324672688]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.1.215
Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.1.215
WARNING: Package name "sam_receive_gazebo_topic_openCV_publish_image_topic" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
process[mobile_base_nodelet_manager-6]: started with pid [14156]
[ERROR] [1503406996.569716567]: Skipping XML Document "/opt/ros/hydro/share/hector_pose_estimation/hector_pose_estimation_nodelets.xml" which had no Root Element.  This likely means the XML is malformed or missing.
WARNING: Package name "sam_receive_gazebo_topic_openCV_publish_image_topic" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
process[cmd_vel_mux-7]: started with pid [14182]
WARNING: Package name "sam_receive_gazebo_topic_openCV_publish_image_topic" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
process[robot_state_publisher-8]: started with pid [14202]
WARNING: Package name "sam_receive_gazebo_topic_openCV_publish_image_topic" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
process[laserscan_nodelet_manager-9]: started with pid [14241]
[ERROR] [1503406997.186515588]: Skipping XML Document "/opt/ros/hydro/share/hector_pose_estimation/hector_pose_estimation_nodelets.xml" which had no Root Element.  This likely means the XML is malformed or missing.
WARNING: Package name "sam_receive_gazebo_topic_openCV_publish_image_topic" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
process[depthimage_to_laserscan-10]: started with pid [14280]
[ INFO] [1503407002.042360851, 0.010000000]: Camera Plugin (robotNamespace = /), Info: Using the 'robotNamespace' param: '/'
Dbg plugin model name: turtlebot
[spawn_turtlebot_model-4] process has finished cleanly
log file: /home/sam/.ros/log/418c5ed8-873a-11e7-b74c-b8ee65344b7e/spawn_turtlebot_model-4*.log
[ INFO] [1503407002.248072565, 0.010000000]: Camera Plugin (ns = /)  <tf_prefix_>, set to ""
Warning [RaySensor.cc:283] ranges not constructed yet (zero sized)
Warning [RaySensor.cc:283] ranges not constructed yet (zero sized)
Warning [RaySensor.cc:283] ranges not constructed yet (zero sized)
Warning [RaySensor.cc:283] ranges not constructed yet (zero sized)
Warning [RaySensor.cc:283] ranges not constructed yet (zero sized)
Warning [RaySensor.cc:283] ranges not constructed yet (zero sized)
Warning [RaySensor.cc:283] ranges not constructed yet (zero sized)
Warning [RaySensor.cc:283] ranges not constructed yet (zero sized)
Warning [RaySensor.cc:283] ranges not constructed yet (zero sized)
Warning [RaySensor.cc:283] ranges not constructed yet (zero sized)
[ INFO] [1503407002.336560023, 0.030000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
Warning [RaySensor.cc:283] ranges not constructed yet (zero sized)
Warning [RaySensor.cc:283] ranges not constructed yet (zero sized)
Warning [RaySensor.cc:283] ranges not constructed yet (zero sized)
Warning [RaySensor.cc:283] ranges not constructed yet (zero sized)
Warning [RaySensor.cc:283] ranges not constructed yet (zero sized)
Warning [RaySensor.cc:283] ranges not constructed yet (zero sized)
Warning [RaySensor.cc:283] ranges not constructed yet (zero sized)
Warning [RaySensor.cc:283] ranges not constructed yet (zero sized)
Warning [RaySensor.cc:283] ranges not constructed yet (zero sized)
Warning [RaySensor.cc:283] ranges not constructed yet (zero sized)
[ INFO] [1503407002.361049826, 0.050000000]: Physics dynamic reconfigure ready.
Warning [RaySensor.cc:283] ranges not constructed yet (zero sized)
Warning [RaySensor.cc:283] ranges not constructed yet (zero sized)
Warning [RaySensor.cc:283] ranges not constructed yet (zero sized)
Warning [RaySensor.cc:283] ranges not constructed yet (zero sized)
Warning [RaySensor.cc:283] ranges not constructed yet (zero sized)
Warning [InsertModelWidget.cc:224] manifest.xml for a model database is deprecated. Please rename "/opt/ros/hydro/share/eusurdf/models/manifest.xml" to "/opt/ros/hydro/share/eusurdf/models/database.config"
Warning [ModelDatabase.cc:206] Unable to connect to model database using [http://gazebosim.org/models/beer/model.config]. Only locally installed models will be available.
Error [ModelDatabase.cc:388] Unable to get model name[http://gazebosim.org/models/beer]
Warning [ModelDatabase.cc:206] Unable to connect to model database using [http://gazebosim.org/models/bookshelf/model.config]. Only locally installed models will be available.
Error [ModelDatabase.cc:388] Unable to get model name[http://gazebosim.org/models/bookshelf]
Warning [ModelDatabase.cc:206] Unable to connect to model database using [http://gazebosim.org/models/bowl/model.config]. Only locally installed models will be available.
Error [ModelDatabase.cc:388] Unable to get model name[http://gazebosim.org/models/bowl]
Warning [ModelDatabase.cc:206] Unable to connect to model database using [http://gazebosim.org/models/breakable_test/model.config]. Only locally installed models will be available.
Error [ModelDatabase.cc:388] Unable to get model name[http://gazebosim.org/models/breakable_test]
Warning [ModelDatabase.cc:206] Unable to connect to model database using [http://gazebosim.org/models/brick_box_3x1x3/model.config]. Only locally installed models will be available.
Error [ModelDatabase.cc:388] Unable to get model name[http://gazebosim.org/models/brick_box_3x1x3]
Warning [ModelDatabase.cc:206] Unable to connect to model database using [http://gazebosim.org/models/cabinet/model.config]. Only locally installed models will be available.
Error [ModelDatabase.cc:388] Unable to get model name[http://gazebosim.org/models/cabinet]
Warning [ModelDatabase.cc:206] Unable to connect to model database using [http://gazebosim.org/models/car_wheel/model.config]. Only locally installed models will be available.
Error [ModelDatabase.cc:388] Unable to get model name[http://gazebosim.org/models/car_wheel]
Warning [ModelDatabase.cc:206] Unable to connect to model database using [http://gazebosim.org/models/cardboard_box/model.config]. Only locally installed models will be available.
Error [ModelDatabase.cc:388] Unable to get model name[http://gazebosim.org/models/cardboard_box]
Warning [ModelDatabase.cc:206] Unable to connect to model database using [http://gazebosim.org/models/cloverleaf_interchange/model.config]. Only locally installed models will be available.
Error [ModelDatabase.cc:388] Unable to get model name[http://gazebosim.org/models/cloverleaf_interchange]
Warning [ModelDatabase.cc:206] Unable to connect to model database using [http://gazebosim.org/models/coke_can/model.config]. Only locally installed models will be available.
Error [ModelDatabase.cc:388] Unable to get model name[http://gazebosim.org/models/coke_can]
Warning [ModelDatabase.cc:206] Unable to connect to model database using [http://gazebosim.org/models/construction_barrel/model.config]. Only locally installed models will be available.
Error [ModelDatabase.cc:388] Unable to get model name[http://gazebosim.org/models/construction_barrel]
Warning [ModelDatabase.cc:206] Unable to connect to model database using [http://gazebosim.org/models/depth_camera/model.config]. Only locally installed models will be available.
Error [ModelDatabase.cc:388] Unable to get model name[http://gazebosim.org/models/depth_camera]
Warning [ModelDatabase.cc:206] Unable to connect to model database using [http://gazebosim.org/models/disk_part/model.config]. Only locally installed models will be available.
Error [ModelDatabase.cc:388] Unable to get model name[http://gazebosim.org/models/disk_part]

======

If I use another desktop computer ubuntu 16.04 64bits with the following instructions:

export TURTLEBOT_BASE=create
export TURTLEBOT_STACKS=circles
export TURTLEBOT_3D_SENSOR=asus_xtion_pro
export TURTLEBOT_GAZEBO_WORLD_FILE=/opt/ros/kinetic/share/turtlebot_gazebo/worlds/empty_world.launch
roslaunch turtlebot_gazebo turtlebot_world.launch

It still continue to move but seems more slowly.

I use sudo apt-get install ros-kinetic-turtlebot-* to install turtlebot on ubuntu 16.04 64bits.