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Thanks, I followed your advice and using localhost for ROS_MASTER_URI on the robot works nicely. Gnu screen is very useful for keeping the processes running.

Also, when mapping, sometimes I prefer to follow the robot and stay connected via ethernet cable so I get fast updates in RViz. To do that, I followed the instructions from: http://ros.org/wiki/Robots/TurtleBot/Network Setup roscd turtlebot_bringup/upstart sudo install.sh eth0

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