Turtlebot navigation in Gazebo

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Hello,

I have previously generated maps using a turtlebot, and have also used AMCL/ navigation stack in the maps. I am now trying to replicate that in Gazebo.

I have seen that turtlebot_simulator as it is doesn't work in Groovy, so I have cloned the turtlebot_gazebo repository and made a package out of it. When ran, gazebo does show a turtlebot, but it doesn't move when commanded and I don't see cmd_vel in rostopic list.

How do I go about getting the turtlebot in Gazebo and then loading my own PGM/YAML maps for navigation? Thanks in advance. I am on Ubuntu 12.04 with ROS Groovy.

Sai