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Re: Simulation

Though it's possible to add errors to the Gazebo simulation, the turtlebot_calibration package interfaces directly with the ADC values generated by the hardware, which is not yet simulated (really, I think this has been the first time it's been mentioned as a deficiency in the TurtleBot package).

Re: Tutorials

All of the tutorials for TurtleBot are listed in order here, under the "Getting Started" heading. Do you have some ideas for how they can be more clearly laid out for new users such as yourself?

Re: Driving

My version of the keyboard teleop has "q" increasing max speed only, and driving with i/j/l/,/etc. Could you let us know what you have? Echoing cmd_vel is done with:

rostopic echo /cmd_vel

Re: rviz

Does rviz show any errors? They're usually highlighted in red on the left side