The first step to using the simulator is to install the two primary components
On an instance of Ubuntu 22.04, run the following commands in order
wget https://files.dylanzeml.in/ros/humble/install.sh && chmod +x install.sh
./install.sh
An then, every time you open up your ubuntu instance, run the following command
source /opt/ros/humble/setup.bash
Running the simulator is extremely simple and only requires a few steps
ros2 launch rosbridge_server rosbridge_websocket_launch.xml
The following topics are what is provided to you to gather information and deliver instructions to the robot