Migrating from Gazebo to Drake
Pre-ramble I have been wanting to give drake a try for a while now, and after running into some issues with Gazebo, I decided it was a good chance to finally get around to trying Drake. There were some hurdles along the way, but truthfully it was less painful than I was expecting. The end result is drake as a stand-in replacement for Gazebo, publishing to /joint_states,/imu, and subscribing to /cmd_vel for joint commands.