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For the Gazebo side, you could look into the beginner tutorial series as a starter. It goes through the process of creating a basic diff drive mobile robot with a depth sensor and a plugin which makes it follow the closest object in front of it. The beginner tutorials don't go into the details of how to write the plugin, and don't use ROS..

The intermediate tutorial series goes into the details of writing a model plugin and conecting to ROS, but they don't direct follow the beginner tutorials.

I hope these give you some ideas ;)