Gazebo | Ignition | Community

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If you want to train your automatic control algrithm, the most important codes should be in robot_teleop.

Gazebo and real world robot both need joint_states_controllers and some_command_controllers.

And, I think you also need write a sensor model to extract data from gazebo and a hardware package to connect with your real robot.

eg: https://github.com/itfanr/elfin_robot

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