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Change the ros and gz command for example #708

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Merged
azeey merged 2 commits into from
Aug 19, 2026
Merged

Change the ros and gz command for example #708

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Change the ros and gz command for example
knmcguire Jul 30, 2026
1b0b3bf
Merge branch 'master' into patch-2
knmcguire Aug 18, 2026
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6 changes: 3 additions & 3 deletions rotary/ros2_integration.md
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Expand Up @@ -218,11 +218,11 @@ Start the simulation in Gazebo and wait a few seconds for TFs to be published.
In another terminal, send either ROS or Gazebo commands for the vehicle to move in circles:

```bash
gz topic -t "/model/vehicle/cmd_vel" -m gz.msgs.Twist -p "linear: {x: 1.0}, angular: {z: -0.1}"
ros2 topic pub /model/vehicle/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 5.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: -0.1}}
gz topic -t "/model/vehicle/cmd_vel" -m gz.msgs.Twist -p "linear: {x: 0.5}, angular: {z: -0.1}"
ros2 topic pub /model/vehicle/cmd_vel geometry_msgs/msg/Twist "{linear: {x:0.5, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: -0.1}}
```

And verify the vehicle matching its trajectory in Gazebo and RViz.
And verify the vehicle matching its trajectory in Gazebo and RViz. Note that the sim here is running 5 times faster than real time

![gz_rviz](tutorials/ros2_integration/gz_rviz.gif)

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