In this chapter, we learned how to simulate our own robot, called Chefbot. We looked at the design of the Chefbot in the previous chapter. We started the chapter by learning about the Gazebo simulator and its different features and capabilities. After that, we looked at how the ROS framework and Gazebo simulator are used to perform a robot simulation. We installed the TurtleBot 2 package and tested the Turtlebot 2 simulation in Gazebo. After that, we created the Chefbot simulation and used Gmapping, AMCL, and autonomous navigation in a hotel environment. We learned that the accuracy of the simulation depends on the map, and that the robot will work better in a simulation if the generated map is perfect.

In the next chapter, we will learn how to design the robot's hardware and electronic circuit.