Once the setup process is complete, start the simulator with the following command:
```
roslaunch iri_ana_gazebo sim_test.launch
roslaunch iri_ana_gazebo sim_sample.launch
```
This command should launch the robot with all its sensors in an empty environment with the RVIZ pre-configured to show all
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@@ -130,8 +130,8 @@ A complete list of all ROS interfaces is shown [here]().
All the tutorial included in this section can be used both in simulation or with the real robot.
* To teleoprate the robot, follow the instructions in this tutorial[]
* To teleoprate the robot, follow the instructions in this [tutorial](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_launch/blob/master/README.md)
* To create a map of the simulated environment, follow the instructions in this tutorial[]
* To navigate the robot in the new environment, follow the instructions in this tutorial[]
