[PlayerStage-Gazebo] Player/Gazebo Controllers

[Jason A. <jas...@cn...>]

Hello,

Is there a tutorial for writing or adapting an existing controller,  
specifically describing the interaction between the model described  
by the worldfile and interfaces described by the player configuration  
file and accessible through playerv?

I'm trying to adapt an existing controller (the steering_position2d  
controller).  It appears as if the speed and steering are being read  
and then written to each wheel, but the simplecar model won't move.   
I can get the simplecar model to roll forward if I drop it onto a  
ramp, but not through the position2d interface using playerv.

Regards,
J. C. Allen