SMB Core Software
The SMB core software allows simulation of the robot in a gazebo environment but is also required on the real robots.
Using Docker
To run the SMB software only in simulation, you can use a Docker image with pre-compiled software. Details are given in the SMB docker documentation. With this, no further installation is needed.
Local Installation
Instead of running the docker image, you can install the simulation/SMB core software on a native Ubuntu 20.04 running ROS Noetic: Follow the steps described in the installation documentation.
Starting the Simulation
Once the SMB core software is installed, you can start the simulation by following the steps in How To Run the SMB Software