Hi

I am trying to run some robot simulations with Gazebo in ROS and I have a few basic questions.

Is there a Pioneer model in ROS (or do we need to create our own?)

I am used to control the robot in Gazebo through Player, I am just wondering what is the equivalent in ROS? How can I subscribe to the position controller of the robot and move it around manually?

Is there a camera sensor/interface/controller that I can attach to a robot and I can subscribe to? (I’ve read something about Rviz but I am not sure how to get it working)

How can I attach custom behavioural/navigation code to the robot so it explores the world by itself based on the code? And want languages does ROS support?

Thanks you very much.

Regards,

Amy