Gazebo mobile robot controller

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Hi all,

I have a quick question to ask. I'd like to create a simulation environment for testing a SLAM algorithm.

So, first I need:

• a world (done)

• a mobile robot (I followed this tutorial to make one: http://gazebosim.org/tutorials?cat=gu... )

Then, I have to write the nodes for interacting with sensors/actuators. According to http://wiki.ros.org/navigation/Tutori... :

• sensor transforms

• sensor sources

• odometry source

• base controller

Now. Luckily enough, I already have code for the first three components. Can you please suggest me the fastest way to write a base_controller in order to navigate the robot?

Thanks, Federico