#TurtleBot Probabilistic Roadmap Implementation

##Simulation launch files To run gmapping and create a map:

1. roslaunch turtlebot_prm sim_with_mapping.launch
2. roslaunch turtlebot_teleop keyboard_teleop.launch
3. Drive TurtleBot around in teleop mode, and then run rosrun map_server map_saver -f /path/to/map_file

To run amcl localization against known map:

1. roslaunch turtlebot_prm sim_with_amcl.launch
2. roslaunch turtlebot_teleop keyboard_teleop.launch, if desired