Controlling Pionner in a Simulated Environment Using p2os and gazebo

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Dear all,

I am trying to control Pionner in a simulated environment using p2os and gazebo. For that, I executed:

$ roscore
$ roslaunch p2os_urdf pioneer3dx.gazebo.launch

The Pioneer appeared in the simulated environment.

What I must do now for controlling it?

I already tried:

$ rostopic pub /cmd_vel geometry_msgs/Twist '[-0.5, 0, 0]' '[0, 0, 0]' -r 100

but it didn't work.

Kind regards,

Claudine