Position/velocity joint control with ros topic

Help
,
1

I’m using ROS humble and Gazebo garden.

I want to control my robot with ros topic.

I found getting robot state from gazebo to ros from here GitHub - gazebosim/ros_gz: Integration between ROS (1 and 2) and Gazebo simulation

but I couldn’t find any tutorial about how to command joint position/velocity by ros2 topic.

is there any example or tutorial about moving joints with ros2 topic in “gazebo sim”?

2

Hello,

How did you get your robot state, i’m trying to use ros_bridge with something as
ros2 run ros_ign_bridge parameter_bridge /object/location@tf_msgs/TFMessage]gz.msgs.Pose_V
to get my object location not the robot state particularly, but it might be the same process.