You might try https://github.com/CNURobotics/chris_turtlebot_flexible_navigation
This provides a simulation (or hardware) of turtlebot navigating with "collaborative autonomy" using FlexBE. It is a bit simpler set up than the full Team ViGIR setup that is available on GitHub. The demo and visualization runs well on my desktop (Core i7 w/ NVIDIA card). It runs Gazebo, RViz, and FlexBE UI in addition to several other ROS nodes, so it is best with two monitors.
For more information :
http://ieeexplore.ieee.org/document/7925266/ and
http://wiki.ros.org/flexible_navigation
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