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Publish to topic /gazebo/default/pioneer2dx/vel_cmd

I've just started to learn Gazebo 7.

I have added a Pioneer 2DX robot and I want to control it. But I don't know how.

I have noticed that the robot has the plugin libDiffDrivePlugin.so. Checking the topics, with gz topic -l, I have found interesting this one:

/gazebo/default/pioneer2dx/vel_cmd

Maybe I can use it to move the robot but I don't know how to publish to it.

I have tried with rqt, using Robot Steering, but it seems that it publishes to /cmd_vel.

How can I move the robot using the keyboard?

Publish to topic /gazebo/default/pioneer2dx/vel_cmd

I've just started to learn Gazebo 7.

I have added a Pioneer 2DX robot and I want to control it. But I don't know how.

I have noticed that the robot has the plugin libDiffDrivePlugin.so. Checking the topics, with gz topic -l, I have found interesting this one:

/gazebo/default/pioneer2dx/vel_cmd

Maybe I can use it to move the robot but I don't know how to publish to it.

I have tried with rqt, using Robot Steering, but it seems that it publishes to /cmd_vel.

How can I move the robot using the keyboard?

Publish to topic /gazebo/default/pioneer2dx/vel_cmd

I've just started to learn Gazebo 7.

I have added a Pioneer 2DX robot and I want to control it. But I don't know how.

I have noticed that the robot has the plugin libDiffDrivePlugin.so. Checking the topics, with gz topic -l, I have found interesting this one:

/gazebo/default/pioneer2dx/vel_cmd

Maybe I can use it to move the robot but I don't know how to publish to it.

I have tried with rqt, using Robot Steering, but it seems that it publishes to /cmd_vel.

How can I move the robot using the keyboard?