In this chapter, you learned how to simulate a custom robot called ChefBot. We discussed the design of the the robot in the previous chapter. After the robot design, we moved on to simulate the robot in a virtual environment to test the design of the robot, and checked whether it met our specifications. In this chapter, you learned about simulation and various simulator applications used in industry, research, and education in detail. After that, we discussed how the ROS framework and Gazebo simulator was used to perform the simulator work. We also created a sample hello_world package using ROS. We installed the TurtleBot stack and created ROS packages from the TurtleBot stack. Finally, we simulated the robot and performed gmapping and autonomous navigation in a hotel environment. We got to know that the accuracy of the simulation depends on the map, and that the robot will work better in simulation if the generated map is perfect.