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@weijia-yao
weijia-yao committed Sep 3, 2016
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## Part I. Overview
The robot movement is realized by a Gazebo model plugin which is called "NubotGazebo" generated by source files "nubot_gazebo.cc" and "nubot_gazebo.hh". Basically the essential part of the plugin is realizing basic motions: omnidirectional locomotion, ball-dribbling and ball-kicking.
Basically, this plugin subscribes to topic "nubotcontrol/velcmd" for omnidirecitonal movement and subscribes to service "BallHandle" and "Shoot" for ball-dribbling and ball-kicking respectively. You can customize this code for your robot based on these messages and services as a convenient interface.
Basically, this plugin subscribes to topic **"/nubotcontrol/velcmd"** for omnidirecitonal movement and subscribes to service **"/BallHandle"** and **"/Shoot"** for ball-dribbling and ball-kicking respectively. You can customize this code for your robot based on these messages and services as a convenient interface.
As for ball-dribbling, there are three ways for a robot to dribble a ball, i.e.
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