pythongo1

<launch>
        <node pkg="my_beginner" type="talker" name="talker_test11" output="screen">
                <remap from="/chatter" to="/re_name" />
        </node>

        <node pkg="my_beginner" type="listener" name="listener_test11" output="screen">  
                <remap from="/chatter" to="/re_name" />
        </node>

        <node pkg="turtlesim" type="turtlesim_node" name="turtle_graph" output="screen">

pythongo1

#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Twist

def move():
    # Starts a new node
    rospy.init_node('robot_cleaner', anonymous=True)
    velocity_publisher = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
    vel_msg = Twist()

pythongo1

<launch>
    <node pkg="turtle_go" type="move.py" name="here_turtle" output="screen">
    </node>
</launch>

pythongo1

<?xml version="1.0" encoding="big5" ?>             <!-- 此為宣告 --> 
<catalog>                                          <!-- 此為root標籤的開始 -->
    <product>
        <pname>HP printer</pname>                  <!-- 標籤必須成對出現 -->
        <price currency="NT">12000</price>
        <mark />                                   <!-- 原來的寫法為 <mark></mark> -->
    </product>
    <hr /> 
    <product>
        <pname>IBM notebook</pname>

pythongo1

cd ~/catkin_ws/src
catkin_create_pkg MYROBOT_control controller_manager joint_state_controller robot_state_publisher
cd MYROBOT_control
mkdir config
mkdir launch

pythongo1

<launch>

  <!-- Load joint controller configurations from YAML file to parameter server -->
  <rosparam file="$(find rrbot_control)/config/rrbot_control.yaml" command="load"/>

  <!-- load the controllers -->
  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
    output="screen" ns="/rrbot" args="joint1_position_controller joint2_position_controller joint_state_controller"/>

  <!-- convert joint states to TF transforms for rviz, etc -->

pythongo1

  <!-- ros_control plugin -->
  <gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotNamespace>/rrbot</robotNamespace>
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
      <legacyModeNS>true</legacyModeNS>
    </plugin>
  </gazebo>

pythongo1

rostopic pub -1 /rrbot/joint1_position_controller/command std_msgs/Float64 "data: 1.5"
rostopic pub -1 /rrbot/joint2_position_controller/command std_msgs/Float64 "data: 1.0"

pythongo1

<gazebo>
  <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
    <robotNamespace>/MYROBOT</robotNamespace>
  </plugin>
</gazebo>

pythongo1

<gazebo>
  <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
    <robotNamespace>/MYROBOT</robotNamespace>
    <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
  </plugin>
</gazebo>