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Hi! Welcome to the gazebo sim answers forum.

To control your epuck, or even a simple cube, you first need to create an SDF. That SDF will describe the appears and physics properties of your robot. It also describes which sensors and on the robot, and what settings they use. Here's a tutorial on making a simple robot:

Building a Two Wheeled Robot

Those sensors will publish information on gazebo topics. You can then use plugins that use sensor information, or other information about the robots location/properties to act on the robot.

Here is a bunch of tutorials on plugins

Hi! Welcome to the gazebo sim answers forum.

To control your epuck, or even a simple cube, you first need to create an SDF. That SDF will describe the appears appearance and physics properties of your robot. It also describes which sensors and are on the robot, and what settings they use. Here's a tutorial on making a simple robot:

Building a Two Wheeled Robot

Those sensors will publish information on gazebo topics. You can then use plugins that use sensor information, or other information about the robots location/properties to act on the robot.

Here is a bunch of tutorials on plugins