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Are there any default model topics?

I made a model for a Pioneer 3AT Mobile robot and looked at the output from 'gztopic list' but I only found one related topic:

/gazebo/default/Pioneer3AT/joint_cmd

1) Is there an example of how to publish to the /joint_cmd topic? 2) Are there any other default topics available such as a /joint_state or /pose available?
3) Do I need to write a model plugin to implement those functions?

Are there any default model topics?

I made a model for a Pioneer 3AT Mobile robot and looked at the output from 'gztopic list' but I only found one related topic:

/gazebo/default/Pioneer3AT/joint_cmd

1) Is there an example of how to publish to the /joint_cmd topic? topic?

2) Are there any other default topics available such as a /joint_state or /pose available?

3) Do I need to write a model plugin to implement those functions?