The smart teleop node ensures that user input velocity commands are safe to run on the robot.
# to run only the smart_teleop node
roslaunch smart_teleop smart_teleop.launch &
# to run only the smart_teleop node with namespace
roslaunch smart_teleop smart_teleop.launch use_namespace:=true namespace:=<whatever> &
# To run the smart_teleop node with the 2d simulator:
roslaunch smart_teleop launch_simulator.launch &