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According to other questions you did, looks like you are trying now gazebo instead of Stage: I think it´s a good idea. We are not supporting turtlebot simulation with Stage, nor this simulator modelices wheeldrop and (afaik) bumper sensors.
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According to other questions you did, looks like you are trying now gazebo instead of Stage: I think it´s a good idea. We are not supporting turtlebot simulation with Stage, nor this simulator modelices wheeldrop and (afaik) bumper sensors.
To solve the covariance problem (if you still want to use stage) you must modify stageros code to fill with non-zero values the diagonal of the covariance matrix of odom messages, because robot_pose_ekf doesn't allow zeros there.
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