Hello,
I have a running diff_drive_controller on real hardware. But I would like to test motor and motor driver behavior while mobile robot in hanging position (wheels not touching ground, able to free return). So I want to create world and mobile robot with a lidar on fortness. I can able to get scan date from gazebo. But now is there any way to change mobile robot position according odom<>base_link tf which is already publishing at ROS2 control side.