How to send raw velocity commands to joints of pr2
I want to send raw velocity commands to joints of pr2 instead of high level joint action commands. I want to apply a reinforcement learning to pr2 arm manipulation. So I need to send raw velocities to pr2 gazebo simulator.
I googled and found that I can use robot_mechanism_controllers/JointVelocityController
But I don't know how to use it to send a velocity command to /r_shoulder_pan_joint. Could anyone provide me with a simple command line example to publish a such command?
I am testing this on pr2_gazebo for now. I hope a solution would work on gazebo, too.
And are there better ways to send raw velocities rather than robot_mechanism_controllers/JointVelocityController?