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How to control robots models?

Hello.

Sorry if there is an obvious answer to this question, but I did not find it after a very long search.

I would like to know how to control the robots models which are packed with Gazebo. That's easy to add them into the world, and I did not find how to go further.

I have read the tutorial of course. It looks like I have to modify the robot description to add some plugins. That makes sense for defining a new robot, but for using a model, it seems complicated.

If you could give me hint, that would be appreciated.

Thanks a lot.