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There are a bunch of problems in your setup - too many for me to list them. My advice is to start with a complete, modern, working simulation that you download using apt, like the turtlebot3 one. Start here:

http://wiki.ros.org/turtlebot3_simulations

The e-Manual has step-by-step instructions for running the simulation. Then checkout the source packages and begin customizing it one step at a time, making sure each change still works.

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