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Gazebo plugins

diff drive

source code

simple gazebo declaration

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<plugin name="gz::sim::systems::DiffDrive" filename="gz-sim-diff-drive-system">

    <left_joint>wheel_left_joint</left_joint>
    <right_joint>wheel_right_joint</right_joint>
    <wheel_separation>${wheel_separation}</wheel_separation>
    <wheel_radius>0.033</wheel_radius>


    <max_linear_acceleration>0.33</max_linear_acceleration>

    <topic>cmd_vel</topic>


    <frame_id>odom</frame_id>
    <child_frame_id>base_link</child_frame_id>
    <odom_topic>odom</odom_topic>
    <odom_publisher_frequency>30</odom_publisher_frequency>

    <tf_topic>/tf</tf_topic>

  </plugin>

moving robot tutorial

gz topic publish
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gz topic -t "/cmd_vel" -m gz.msgs.Twist -p "linear: {x: 0.5}, angular: {z: 0.0}"