In order to use it:
Add to your gazevo path the "cic" folder that is inside the "world" folder(copy here): cd ~/.gazebo/models
you can easy move it with rostopic pub -1 /cmd_vel geometry_msgs/Twist '[0.5, 0.0, 0.0]' '[0.0, 0.0, 0.0]'
DEMO WITHOUT MAP: In two separate terminal windows: Start the Pioneer 3AT simulation environment: roslaunch pioneer pioneer3at.gazebo.launch
Start the move_base demo:
roslaunch pioneer move_base_mapless_demo.launch
DEMO LOCALIZATION WITH MAP: In two separate terminal windows: Start the Pioneer 3AT simulation environment: roslaunch pioneer pioneer3at.gazebo.launch
Start the amcl demo:
roslaunch pioneer amcl_demo.launch