Position/velocity joint control with ros topic

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”?


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.