any advice about how to control robot moving under a specified path（including vec acceleration）

[defypp]

I read your code and learn a lot.
now I meet a issue, I need to executing a path from 'a' to 'b' with specified time,velocity，acceleration. any idea how to control robot?
thanks.

[yangliu28]

Can you elaborate on your question? Like, how is the path defined, a simple straight line or an analytical curve connecting 'a' and 'b'? Will the velocity varies along the path? And what robot model are you using in your simulation? In Gazebo, there is no direct way of writing speed to a robot, but only through the force or torque on an object or joint, you need a PD or PID controller for your speed or position. I have a similar one in minimal_robot_gripper, it uses torque on a joint to control its position, in your case, it should be torque on the wheel, further the odometry of the robot.