In order to make simulations with our robots on ROS, we are going to use Gazebo.
Gazebo (http://gazebosim.org/) is a multirobot simulator for complex indoor and outdoor environments. It is capable of simulating a population of robots, sensors, and objects in a three-dimensional world. It generates both realistic sensor feedback and physically plausible interactions between objects.
Gazebo is now independent from ROS and is installed as a standalone package in Ubuntu. In this section, we will see how to interface Gazebo and ROS. You will learn how to use the model created before, how to include a laser sensor and a camera, and how to move it as a real robot.