Gazebo Rover Model
I have got a simple two wheeled differential drive model in Gazebo , I would like to control it with posix_sitl_default running a version of 50001_axial_racing_ax10 rover model that uses the simple controller defined in /example/rover_steering_control.
The rover model uses a differential drive plugin, called libgazebo_ros_diff_drive.so, a standard ROS plugin. http://gazebosim.org/tutorials?tut=ros_gzplugins#DifferentialDrive
It expects cmd_vel topics, but PX4 STIL gazebo models seem to use /gazebo/command/motor_speed topics.
How could I map from one to the other? Ie how could I get the mavlink commands from PX4 SITL to the new gazebo model?
Or framing the question in more general terms: What are the steps to follow to add a new gazebo model to the PX4 gazebo infrastructure and be able to control it?