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Implementing code in Gazebo world plugin

BH

I would like to implement a code that moves a turtlebot straightforward and see it on Gazebo. At first, I tried to paste the code i a Gazebo Plugin but it looks like when I run a launch file that sets the robot on a planned world, it doesn't respond.

This is the code(without implementation in a Gazebo plugin):

/* * * Hello World and Crash for Turtlebot * * Moves Turtlebot forward until you ctrl + c * * Tested using TurtleBot 2, ROS Indigo, Ubuntu 14.04 * */

include <iostream>

include <ros ros.h="">

include <geometry_msgs twist.h="">

int main(int argc, char** argv) { //init the ROS node // ROS_INFO_STREAM("Hello World"); // ros::init(argc, argv, "robot_driver"); // ros::NodeHandle nh; // // //init publisher // ros::Publisher cmd_vel_pub_; // cmd_vel_pub_ = nh.advertise<geometry_msgs::twist>("cmd_vel_mux/input/teleop", 1); //
// //init direction that turtlebot should go // geometry_msgs::Twist base_cmd; // base_cmd.linear.x = base_cmd.linear.y = base_cmd.angular.z = 0; // // //and let's go forward by setting X to a positive value // base_cmd.linear.x = 0.25; // // ROS_INFO_STREAM("And Crashing ... ctrl + c to stop me :)"); // // while(nh.ok()) { //have we ctrl + C? If no... keep going! // //"publish" sends the command to turtlebot to keep going // cmd_vel_pub_.publish(base_cmd); // } // } What should I do?

P.S By the way, how come I can't see the cmd_vel_mux topic by picking the topic visualization tab on Gazebo?