How to send commands to joints?

asked 2020-10-23 08:58:57 -0500

Stef gravatar image

I have a robot with 8 revolute joints, four to steering and four to propulsion and i want to send to topics to the node Gazebo, that send the angles and linear speed based to the joints.I have the code in C++ but the topics aren't been send to the robot.I used the skid_steer_drive_controller plugin but an error occurs because the messages are std_msgs / Float32 and not geometry_msgs / Twist.What would be a way to send the commands to the joints?

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