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You will need a controller within a gazebo plugin. You can find examples on gazebo plugins in this repo: https://github.com/ros-simulation/gazebo_ros_pkgs/tree/foxy/gazebo_plugins

The input to your controller will probably be an IMU that can give you the pitch angle of the middle part of the robot. The controller will need to be cascaded.

• You can control the speed of the robot by setting its acceleration.
• You can control the acceleration of the robot by setting the pitch angle of the robot.
• You can control the pitch angle of the robot my using force in the opposite direction on the wheels.

You will need a controller within and a gazebo plugin. The controller can be either within the plugin or separate in a ros2 node, which is what you should prefer in case you ever want to build the robot in reality.

You can find examples on gazebo plugins in this repo: https://github.com/ros-simulation/gazebo_ros_pkgs/tree/foxy/gazebo_plugins

The input to your controller will probably be an IMU that can give you the pitch angle of the middle part of the robot. The controller will need to be cascaded.

• You can control the speed of the robot by setting its acceleration.
• You can control the acceleration of the robot by setting the pitch angle of the robot.
• You can control the pitch angle of the robot my using force in the opposite direction on the wheels.