I am a newer to learn localization and building a map with the camera information on the pioneer 3 robot. First, I want to learn amcl package and I want to realize the algorithm in the simulator robot such as PR2 robot in the simulation environment. That's to say, If I want to make the PR2 robot moving in the simulation environment, meanwhile, I can test the localization algorithm in the simulation robot, so I may know what should I do to make the localization algorithm effective. So which procedures should I do? And if there are some good advice, I will well appreciate. Thanks in advance.