Revision history [back]

For getting the estimated pose you will have to run amcl that uses the simulated laser and the map to localize itself. Unfortunately, for the turtlebot there is no ground truth pose topic as for the pr2. I guess you will have to subscribe to gazebo's model_state topic and translate the pose of the turtlebot to a PoseStamped or Odometry message. In python such a node should be just a few lines of code though.