Gazebo | Ignition | Community
Ask Your Question

Revision history [back]

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...):


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