Hi Ben,
are you talking about this
plugin<https://code.ros.org/svn/ros-pkg/stacks/simulator_gazebo/trunk/gazebo_plugins/src/gazebo_ros_diffdrive.cpp>?
 Starting with that plugin as reference, you should be able to modify it to
do what you described?
John

On Tue, Feb 1, 2011 at 8:31 PM, Benjamin Cohen <bencohen2@gmail.com> wrote:

> Hey,
>
> I was wondering if there is a differential drive gazebo plugin for small
> platforms (specifically for the Erratic) that allows me to manually set the
> velocity of the left motor and right motor instead of using a
> geometry_msgs/Twist to control the center of the base.
>
> for example:  instead of publishing a Twist message on the /cmd_vel topic
> to control the base of the robot, I would instead publish a message on
> /cmd_motors with 2 floats, left_rpm & right_rpm to drive it around.
>
> thanks,
> -- ben
>
>
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