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as @mgruhler already did say you need just to generate a twist msg out of you sensor data. then this is going to you ros robot and this trys to turn the wheels, an gazebo semulate the world for you robot.

so with you joystick you control you robot and not the wold (as gazebo it you simulatat wold). you programm does not have to know that there is gezebo. otherwise you have to program it twice for the real world also.