The simulator profile is similar, again, but in this case you do not need a physical robot. Instead, you will run a simulation of the robot and control this.
You will need a ROS master running on your workstation, so open a window and proceed as follows.
You will now be able to run the simulation by following the procedure below in a second window.
Once the simulation is running, you can control the simulated robot much as you would the physical robot, by proceeding as follows in a third window.
Note the limitations of the simulator versus the physical robot.