README

turtlebot4_gz

To launch the simulation, run

ros2 launch irobot_create_gz_bringup create3_gz.launch.py

Wait for the simulation environment to load completely, then press the orange play button in the lower-left corner to start the simulation. The robot starts docked on its charger.

Worlds

The default simulation world is the depot environment. To chage worlds, use the world argument. Supported worlds are:

• depot (default)

• maze

Robot spawn location

By default the robot spawns at the origin. To change the robot’s spawn location, use the x, y, z and yaw arguments. Note that changing z may result in the robot spawning in the air or below the ground plane, depending in the value used.