We will run the following commands in two separate terminals to start the navigation stack with our simulated mobile robot in Gazebo, with the map of the virtual environment and the RViz tool for visualization:

$ roslaunch chapter7_tutorials chapter7_configuration_gazebo.launch
$ roslaunch chapter7_tutorials move_base.launch

As seen in the previous section, we will get the same window that was shown in the preceding screenshot for RViz, and we will have the Gazebo virtual world and simulated mobile robot in another window.