# Position/velocity joint control with ros topic

**URL:** <https://discourse.openrobotics.org/t/position-velocity-joint-control-with-ros-topic/49109>\
**Category:** Gazebo Help\
**Tags:** ros2, garden\
**Created:** [March 22, 2023, 5:53am UTC](https://discourse.openrobotics.org/t/position-velocity-joint-control-with-ros-topic/49109 "2023-03-22T05:53:24Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![SeungJunWoo](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/seungjunwoo/32/27112_2.png) [@SeungJunWoo](https://discourse.openrobotics.org/u/SeungJunWoo)\
**Post date:** [March 22, 2023, 5:53am UTC](https://discourse.openrobotics.org/t/position-velocity-joint-control-with-ros-topic/49109/1 "2023-03-22T05:53:24Z")

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I’m using ROS humble and Gazebo garden.

I want to control my robot with ros topic.

I found getting robot state from gazebo to ros from here [GitHub - gazebosim/ros\_gz: Integration between ROS (1 and 2) and Gazebo simulation](https://github.com/gazebosim/ros_gz)

but I couldn’t find any tutorial about how to command joint position/velocity by ros2 topic.

is there any example or tutorial about moving joints with ros2 topic in “gazebo sim”?

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**Author:** ![Everdream](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/everdream/32/27087_2.png) [@Everdream](https://discourse.openrobotics.org/u/Everdream)\
**Post date:** [March 22, 2023, 9:26am UTC](https://discourse.openrobotics.org/t/position-velocity-joint-control-with-ros-topic/49109/2 "2023-03-22T09:26:53Z")

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Hello,

How did you get your robot state, i’m trying to use ros\_bridge with something as  
`ros2 run ros_ign_bridge parameter_bridge /object/location@tf_msgs/TFMessage]gz.msgs.Pose_V`  
to get my object location not the robot state particularly, but it might be the same process.