to launch Mani in Gazebo:
- $ cd ~/catkin_ws (i.e. your catkin workspace)
- $ source /opt/ros/kinetic/setup.bash
- $ source ~/catkin_ws/devel/setup.sh OR $ source ~/catkin_ws/devel/setup.bash
- $ roslaunch manisim gazebo.launch
to control mani's wheels and steering angles:
-> 1st option: use rqt
- $ rosrun rqt_gui rqt_gui
- from the menu bar: Plugins -> Topics -> Message Publisher
- select /mani/[controllername]/command topic of the joint you want to control
- publish velocity / position / etc. to topic (Float64)
-> 2nd option: publish to ros topics via the command line / via your own program (see step 3. in 1st option rqt)