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Now I can upgrade my post to an answer. We have created a turtlebot simulator tutorial that should answer to questions 1 and 2. Update the code and gazebo packages, as we made tons of changes in the last days.

And please, please, please report whatever fails or is bad explained. Thank you!

Question 3 goes out of the scope of the tutorial, but the fast answer is to create your own global planner plugin for the move_base node. I think the easiest way to do so is to duplicate the simple carrot planner and modify at your will.