The package gopigo3_description contains the URDF description of GoPiGo3 that you can use to perform simulations of the robot.
$ source ~/catkin_ws/devel/setup.bash
$ roslaunch gopigo3_description gopigo3_rviz.launch
- "gui" parameter
to launch a widget that lets you rotate both wheels with the sliders
$ roslaunch gopigo3_description gopigo3_rviz.launch gui:=True
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