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

John</div><div><br><div class="gmail_quote">On Tue, Feb 1, 2011 at 8:31 PM, Benjamin Cohen <span dir="ltr">&lt;<a href="mailto:bencohen2@gmail.com">bencohen2@gmail.com</a>&gt;</span> wrote:<br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;">

Hey,<br><br>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.<br>



<br>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 &amp; right_rpm to drive it around.<br>



<br>thanks,<br clear="all">-- ben<br><br>
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