Adding a demo robot

nav2_bringup/README.md

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+# Bringup
+
+## Before starting:
+- Build ROS2 from master branch
+- If working with Ubuntu 16, install [Gazebo 9](http://gazebosim.org/tutorials?tut=install_ubuntu&cat=install)
+  - In step #3:
+
+    ```$ sudo apt-get install gazebo9-common libsdformat6 gazebo9 libgazebo-dev```
+
+  - You might want to cleanup prior Gazebo installations:
+
+    ```$ sudo apt autoremove```
+
+- Build gazebo_ros_pkgs from ros2 branch
+
+## Driving the Gazebo differential drive robot
+
+  To run:
+
+      $ gazebo <dash><dash>verbose <path_to>/gazebo_ros_simplebot.world
+
+  Try sending commands:
+
+      $ ros2 topic pub /nav2/cmd_vel geometry_msgs/Twist '{linear: {x: 1.0}}' -1
+      $ ros2 topic pub /nav2/cmd_vel geometry_msgs/Twist '{angular: {z: 0.1}}' -1
+
+  Try listening to odometry:
+
+      $ ros2 topic echo /nav2/odom
+
+  Try listening to TF:
+
+      $ ros2 run tf2_ros tf2_echo odom base_link
+      $ ros2 run tf2_ros tf2_echo base_link right_wheel
+      $ ros2 run tf2_ros tf2_echo base_link left_wheel
+
+  Open RVIZ:
+
+      $ ros2 run rviz2 rviz2
+
+  On RViz, add the following topics:
+
+      * /ray/pointcloud2
+      * /ray/pointcloud
+      * /ray/laserscan
+
+  *Note that the laser scans are not working on RViz due to https://github.com/ros2/rviz/issues/332*
+
+  Provide a transform for the laser sensor:
+
+      $ ros2 run tf2_ros static_transform_publisher 0.75 0 0.484 0 0 0 base_link ray_link
+
+  On RViz, change the Fixed Frame" to ```ray_link```
+
+  Echo the range topics, i.e.
+
+      $ ros2 topic echo /ray/range
+
+  ## Next Steps
+- Fix transforms for laser sensor
+- Add transform for imu?
+- Fix topic names
+- Verify the output of the imu
+- Reduce the size of the robot
+- Create launch file? use empty_world.launch.py as an example