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Moving my robot from ROS and getting sensor information back.

Hi guys,

I'm a bit stuck with the whole Gazebo-ROS integration.

I went through basic Gazebo tutorials, created a small two-wheeled robot with a laser (simple SDF file and world file). Now I want to move it (apply force to both wheels) and get laser output using ROS. I'm not even sure what has to be done next. Gazebo model plugin that reads move commands from ROS topics and publishes laser output to another topic? Or is there something ready-to-use?