This ros package controls "turtlebot3" robot (both actual robot and simulator).
This ROS node subscribes a ROS topic and receive a command from fiware_ros_turtlebot3_bridge. And this node publishes a serise of messages to /cmd_vel topic according to the received command in order to operate "turtlebot3".
This ROS node subscribes the /odom topic in order to receive the current position and current quaternion of "turtlebot3". When this node receives a new message, this node calculates the euler angle of z axis, and publishes a current position and angle to a ROS topic.
ROS kinetic
$ cp src/fiware_ros_turtlebot3_bridge/config/mqtt.yaml.template src/fiware_ros_turtlebot3_bridge/config/mqtt.yaml
$ vi src/fiware_ros_turtlebot3_bridge/config/mqtt.yaml$ roslaunch fiware_ros_turtlebot3_operator fiware_ros_turtlebot3_operator.launchCopyright (c) 2018 TIS Inc.