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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_APISee this question and please stop asking duplicate questions.

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