### LIDAR TERCİHİ 
```
export LDS_MODEL=LDS-01 #LDS-02 de seçilebilir bir seçim her zaman gereklidir
export TURTLEBOT3_MODEL=waffle # turtlebot3 modeli seçilmeli
```
### LAUNCH EXAMPLE TURTLEBOT3 WORLD
```
ros2 launch turtlebot3_gazebo turtlebot3_world.launch
ros2 launch turtlebot3_gazebo turtlebot3_house.launch.py
```
### LAUNCH NAV2
```
ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True
```
### LAUNCH SLAM_TOOLBOX'u 
```
ros2 launch slam_toolbox online_async_launch.py use_sim_time:=True
```
### LAUNCH RVIZ
```
ros2 run rviz2 rviz2 -d /opt/ros/humble/share/nav2_bringup/rviz/nav2_default_view.rviz
```
### ros2 topic list ile topicler listlebiliyor olmalı
```
#TURTLEBOT3 HAREKET ETTİRMEK
ros2 run turtlebot3_teleop teleop_keyboard
```
#### HARİTAYI KAYDETMEK
```
ros2 run nav2_map_server map_saver_cli -f my_map
```

- YOLLAR:
	- pluginler: libignition-gazebo-joint-state-publisher-system.so