If you're looking to simulate processes you'll want to use a simulator. There are several with ROS integration, for what you're looking to do I'd suggest looking at using Gazebo. To that end I'd suggest you ask for help on
http://answers.gazebosim.org/questions/ or on one of the other simulator's forums.
Please note that we ask that people ask questions about ROS on answers.ros.org following our Support Guidelines:
http://wiki.ros.org/Support I'm redirecting you to Gazebo's instance to save you another step.
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