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Move left:

rostopic pub -r 10 /base_controller/command geometry_msgs/Twist '{linear:  {x: 0.0, y: 0.1, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}'

Move right:

rostopic pub -r 10 /base_controller/command geometry_msgs/Twist '{linear:  {x: 0.0, y: -0.1, z: 0.0}, angular: {x: 0.0,y: 0.0,z: 0.0}}'