Hello,

I have no physical ROS robot and therefore I wanted to start working with gazebo. I'm using ubuntu 16.04, ROS1 kinetic. I've installed the following packages:

sudo apt-get install ros-noetic-navigation
sudo apt-get install ros-noetic-slam-gmapping

Turtlebot3 installation:
sudo apt-get update
sudo apt-get upgrade

$ cd ~/catkin_ws/src/
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git -b kinetic-devel
$ git clone  https://github.com/ROBOTIS-GIT/turtlebot3.git -b kinetic-devel
$ cd ~/catkin_ws && catkin_make

~/catkin_ws/src/
$ git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
$ cd ~/catkin_ws && catkin_make

cd
gedit .bashrc

Inside the bashrc file, put the following aliases to make it easier to access different executables in the alias section.

alias burger='export TURTLEBOT3_MODEL=burger'
alias waffle='export TURTLEBOT3_MODEL=waffle'
alias tb3fake='roslaunch turtlebot3_fake turtlebot3_fake.launch'
alias tb3teleop='roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch'
alias tb3='roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch'
alias tb3maze='roslaunch turtlebot3_gazebo turtlebot3_world.launch'
alias tb3house='roslaunch turtlebot3_gazebo turtlebot3_house.launch'

also, at the end of the file, write the following commands

source /opt/ros/noetic/setup.bash
source /home/akoubaa/catkin_ws/devel/setup.bash
export TURTLEBOT3_MODEL=waffle
export SVGA_VGPU10=0

After starting the following instruction:

roslaunch turtlebot3navigation turtlebot3navigation.launch mapfile:=/home/user/maps/tb3map/tb3house_map.pgm

I received the following error:

[mapserver-3] process has died [pid 7970, exit code 255, cmd /opt/ros/kinetic/lib/mapserver/mapserver /home/user/maps/tb3map/tb3housemap.pgm _name:=mapserver _log:=/home/user/.ros/log/91d3ec66-7de9-11ed-b7ac-18cf5e4e3aef/mapserver-3.log]. log file: /home/user/.ros/log/91d3ec66-7de9-11ed-b7ac-18cf5e4e3aef/mapserver-3*.log [ WARN] [1671267770.986369010]: Timed out waiting for transform from basefootprint to map to become available before running costmap, tf error: canTransform: targetframe map does not exist… canTransform returned after 0.101016 timeout was 0.1.

I have also RobotModel Error and Costmap Error in rviz!

Please help me to resolve this issue!