To simulate the robot, you may need to satisfy some dependencies. The differential robot controller used in our simulation is of Turtlebot. So we have to install Turtlebot packages to get those plugins and run the simulation:

    $ sudo apt-get install ros-kinetic-turtlebot-simulator ros-kinetic-turtlebot-navigation ros-kinetic-create-node ros-kinetic-turtlebot-bringup ros-kinetic-turtlebot-description

You can also install ROS packages such as chefbot_bringup, chefbot_description, chefbot_simulator to start the simulation. You can copy these package into your ROS workspace and launch the simulation using the following command:

    $ roslaunch chefbot_gazebo chefbot_empty_world.launch

If everything is working properly, you will get this window, which has the designed robot:

You can move the robot around using a teleop node. You can start teleop using the following command:

    $ roslaunch chefbot_bringup keyboard_teleop.launch

You can move the robot with your keyboard, using the keys shown in the following screenshot:

If you can move the robot using teleop, you can now implement its remaining capabilities.