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You should start by installing ros, then installing one of the simulation packages someone else already has working. The turtlebot3 one is a good choice if you want to learn about controlling a robot with wheels. You can begin at:

http://wiki.ros.org/turtlebot3_simulations

You can also search for tutorials on the wiki about specific subjects, and gain experience by examining the turtlebot3 files. It will take some effort - there are dozens of files and a lot of concepts to understand.