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Do you want visualisation of a robot or simulation of a robot (two different things = different packages)? Visualisation can be done in RVIZ if you create a robot model for your specific robot (don't know if there's a roomba model already available). Check the roomba page, it also has a navigation tutorial. If you want simulation have a look at Gazebo or MORSE. They both allow you to simulate your robot in 3D and test your navigation setup, afterwards you can visualise the results in Rviz or in MORSE.

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