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You can write a gazebo plugin to send torque or velocity commands to each wheel and the steering joint. Possibly wrapping a simple PID controller around each controlled joint. An empty gazebo_plugin template has been provided for your convenience. Please take a look at the diffdrive example for reference on how to construct such a plugin.

Alternatively, if you are familiar with pr2_mechanism control stacks, you can use some predefined robot mechanism controllers to control your joints.

You can write a gazebo plugin to send torque or velocity commands to each wheel and the steering joint. Possibly wrapping a simple PID controller around each controlled joint. An empty gazebo_plugin template has been provided for your convenience. Please Also, please take a look at the diffdrive example for reference on how to construct such a plugin. plugin that sends velocity commands to individual joints.

Alternatively, if you are familiar with pr2_mechanism control stacks, you can use some predefined robot mechanism controllers to control your joints.

You can write a gazebo plugin to send torque or velocity commands to each wheel and the steering joint. Possibly wrapping a simple PID controller around each controlled joint. An empty gazebo_plugin template has been provided for your convenience. Also, please take a look at the diffdrive example for reference on how to construct a plugin that sends velocity commands to individual joints.

Alternatively, if you are familiar with pr2_mechanism control stacks, you can use some predefined robot mechanism controllers to control your joints.joints. A simple controlled joint example can be found in pr2_exmaples_gazebo package.

You can write a gazebo plugin to send torque or velocity commands to each wheel and the steering joint. Possibly wrapping a simple PID controller around each controlled joint. An empty gazebo_plugin template has been provided for your convenience. Also, please take a look at the diffdrive example for reference on how to construct a plugin that sends velocity commands to individual joints.

Alternatively, if you are familiar with pr2_mechanism control stacks, you can use some predefined robot mechanism controllers to control your joints. A simple controlled joint example can be found in pr2_exmaples_gazebo packagethe single link example as shown here.