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DiffDrive

Gazebo

gazebo diff drive plugin
1

ROS

bridge file

bridge.yaml
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# gz topic published by DiffDrive plugin
- ros_topic_name: "odom"
  gz_topic_name: "odom"
  ros_type_name: "nav_msgs/msg/Odometry"
  gz_type_name: "gz.msgs.Odometry"
  direction: GZ_TO_ROS

# gz topic published by DiffDrive plugin
- ros_topic_name: "tf"
  gz_topic_name: "tf"
  ros_type_name: "tf2_msgs/msg/TFMessage"
  gz_type_name: "gz.msgs.Pose_V"
  direction: GZ_TO_ROS

# gz topic subscribed to by DiffDrive plugin
- ros_topic_name: "cmd_vel"
  gz_topic_name: "cmd_vel"
  ros_type_name: "geometry_msgs/msg/Twist"
  gz_type_name: "gz.msgs.Twist"
  direction: ROS_TO_GZ