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The turtlebot simulator wont work on groovy. Some people have managed to get it work with tweaks. From the ros wiki only compatibility is with electric, fuerte and hydro at the moment.

The turtlebot simulator wont work on groovy. Some people have managed to get it work with tweaks. From the ros wiki only compatibility is with electric, fuerte and hydro at the moment. I would suggest looking into the hector_turtlebot package, that will work with the groovy. They have a hector_gazebo_simulation for running turtlebot with a hokuyo laser.

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