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command joint position of a robot on gazebo using publisher in ros

hello,

i'm using this tutorial: gazebosim.org/tutorials/?tut=ros_control

to command my robot in gazebo, i can control it using manually send example commands and using RQT gui to send commands, now i'm searching to command it by integrating a publisher into node in ROS, and sending random command to joints to let them move.

i need help please.