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You could start with simulating Turtlebot. For that you have the choice between Gazebo, stage or STDR. I think the simultion should work out of the box so that you can start playing around with the costmap etc.

You could start with simulating ~~Turtlebot.~~ Turtlebot. For that you have the choice between Gazebo, stage or STDR. I think the simultion should work out of the box so that you can start playing around with the costmap etc.

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