After finishing the preceding topics, we can start commanding positions to each joint.
To move a robot joint in Gazebo, we should publish a desired joint value with a message type std_msgs/Float64 to the joint position controller command topics.
Here is an example of moving the fourth joint to 1.0 radians:
$ rostopic pub /seven_dof_arm/joint4_position_controller/command std_msgs/Float64 1.0
Figure 10: Moving a joint of the arm in Gazebo
We can also view the joint states of the robot by using the following command:
$ rostopic echo /seven_dof_arm/joint_states