$ sudo apt-get install ros-kinetic-gazebo-ros-*
$ cd gazebo_test/catkin_ws
$ source devel/setup.bash
Note: Do it everytime as you open new terminals
Open gazebo with one mobile robot
$ roslaunch launch_gazebo duckiebot.launch
Run pure pursuit algorithm
$ roslaunch pure_pursuit pure_pursuit.launch lookahead:=0.5
Open Rviz to see the odometry
$ roslaunch pure_pursuit viz.launch
Note: To change the path, please modify the following file
gazebo_test/catkin_ws/src/pure_pursuit/config/path/path.yaml