The my_robot package includes a 2 wheel drive robot with camera and laser scan in gazebo.
command velocities --> /cmd_vel Camera --> /rgb/image_raw laser scan --> /scan
The topics can be changed in the my_robot/urdf/my_robot.gazebo file
roslaunch my_robot world.launch ---> launches the robot in an empty gazebo world and launches rviz.
Data visualisation in rviz: fixed frame --> odom Use Add and select robot state to view the bot in rviz select camera --> edit topic to /rgb/image_raw --> to view images select laser scan --> edit topic to /scan --> to view laser scan
To launch robot in a different world-
1.place required .world file in my_robot/worlds directory
2.edit the
as
in the my_robot/launch/world.launch file.