How to add wandering behaviour to one robot?

asked 2018-10-18 06:37:37 -0500

tore_gore gravatar image

Hello everyone, it's my first time asking a question here, so I'll try to be as clear as possible explaining my problem. I have been following this tutorial here:
since I am a total newbie in both ROS and Gazebo.
Provided that I use Ubuntu Xenial 16.04 and ROS Kinetic, I have been following the tutorial till the part where I launch the multiple robots in my Gazebo World and I had no problems doing so.
Now, suppose that I launch only one robot in the simulation, what would I have to add to make the robot, a turtlebot in this case, wander around with a random behaviour? I really can't figure it out.
What if I wanted it to start mapping around?

I really hope this is not a stupid question but I couldn't really find anything about it around the internet.
Thank you in advance for your patience

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