I got quite confused after watching both the courses “Model the robot with URDF” and “ROS control”. My question is, how can we move the robot in Gazebo by simply publish the velocity command in the course “Model the robot with URDF” with only the controller? My guess is that Gazebo by default use the DefaultRobotHWSim, so it still has a hardware interface. When building the real robot, we need to write our own hardware interface. Am I right about the whole thing?
Besides, I would like to know when we are running the algorithm on real robot, then we don’t launch gazebo, right? Only Rviz will be used for monitoring the robot status, am I right?