Sorry I am new to ROS. I have an external program that generates an ASCII text file (say 'walk.dat') which consists of two columns of values of linear velocity and angular velocity, say 1000 rows of (a,b). Would like to write a ROS package that can read in the data and execute rostopic pub cmd_vel geometry_msgs/Twist '[a,0,0]' '[0,0,b]' according to the values in the file. I also want to do it by Turtlebot simulator in Gazebo. I really appreciate if someone can teach me step by step from the very beginning (e.g. open a terminal) to the very end (e.g. rosrun something). Thank you very much indeed.
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