This packages offers the full Turtlebot2 stack for ROS 2 with xacro models.
Use the prefix argument to rename all links e.g. prefix:=turtle1/ leads to turtle1/base_link.
It is used to rename all links within the model, together with a namespaced execution, allowing an easy multi-robot setup.
It is compatible with spawning the models in Gazebo.
Assuming you have simple_launch and nav2_common, running the included bringup_launch.py will run ROS 2 on the Turtlebot and prefix or namespace nodes, topics and TF links with the HOSTNAME of the Turtlebot.
Running bringup.sh will launch this file in a detached screen.
Bringup can be run at boot with the package robot-upstart.
The upload_launch.py will spawn a Turtlebot inside Gazebo.