The best way for researchers to test their algorithms and design concepts, before experimenting on real human beings, is to create simulation environment platforms. In this paper, a virtual simulator for active endoscopic capsules is proposed. The simulator intends to provide researchers with an environment to test their vision and navigation algorithms applied to endoscopic capsule applications. The proposed simulation was created using Gazebo simulator under Robotic Operating System (ROS) environment. It consists of three main software modules: (i) capsule model, (ii) capsule control, and (iii) Gazebo customized plugins. The current version of the simulator can provide three main functions: lumen tracking, capsule tele-operation and haptic feedback for capsule navigation.