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I haven't worked with turtlebot or gazebo but the answer is almost certainly yes. The basic idea is that you want to read your text file line by line as you normally would in python/c++. Split each line into different values you want then publish these programmatically as Twist messages as explained here. You should do all of this work inside a node which you start after your robot has started. Hope this helps.

I haven't worked with turtlebot or gazebo but the answer is almost certainly yes. The basic idea is that you want to read your text file line by line as you normally would in python/c++. Split each line into different values you want then publish these programmatically as Twist messages as explained here. in this tutorial http://pharos.ece.utexas.edu/wiki/index.php/Writing_A_Simple_Node_that_Moves_the_iRobot_Create_Robot#Create_the_Program. You should do all of this work inside a node which you start after your robot has started. Hope this helps.