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For 2D simulation you should use Stage. You have to set you .world file, maybe using an image. Then you could use an existing robot model or create a new one. Stage node will publish topics for position, laser data, camera data, and it subscribe to velocity topic. You can use another node for controlling the robot via cmd_vel topic, like teleoperation using the keyboard. Finally, you can start RVIZ and visualize data in topics aforementioned. There are tutorials and guides for each of the nodes and functionalities described.