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Most of the teleop apps in ROS just send geometry_msgs/Twist messages. This means a message containing a a rotation and a translation vector. On gazebo side you can implement a plugin(or use one of the existing ones) to react on that message. There seems to be a convention to use the topic name vel_cmd for this purpose.

For examples look at the movement plugins here(skid_steering, planar_move etc...):

ros_gzplugins

It should be possible to use one of the existing teleop scripts to control the robot(for example from turtlesim or pr2)