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http://www.ros.org/wiki/simulator_gazebo/Tutorials/Gazebo_ROS_API

Even though the tutorial was written for C-Turtle most of it will work for you.

~~http://www.ros.org/wiki/simulator_gazebo/Tutorials/Gazebo_ROS_API~~See this question and please stop asking duplicate questions.

~~Even though the tutorial was written for C-Turtle most of it will work for you.~~

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