Thanks John.  <br><br>I just went through the code and I can&#39;t seem to find where the ActArrayData is stored, containing the speed of the actuators. How does the <a class="el" href="http://playerstage.sourceforge.net/doc/Gazebo-manual-svn-html/classgazebo_1_1PositionIface.html">PositionIface</a> set the motor commands? It seems like it only contains the commanded pose of the entire robot.<br>

<br clear="all">-- ben<br><br>
<br><br><div class="gmail_quote">On Tue, Feb 1, 2011 at 11:47 PM, John Hsu <span dir="ltr">&lt;<a href="mailto:johnhsu@willowgarage.com">johnhsu@willowgarage.com</a>&gt;</span> wrote:<br><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">

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" target="_blank">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"><div><div></div><div class="h5">On Tue, Feb 1, 2011 at 8:31 PM, Benjamin Cohen <span dir="ltr">&lt;<a href="mailto:bencohen2@gmail.com" target="_blank">bencohen2@gmail.com</a>&gt;</span> wrote:<br>

</div></div><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;"><div><div></div><div class="h5">

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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