How do I make a controllable robot in Gazebo?

I’ve followed most of the basic tutorials on their page, I Just can’t seem to find how to actually get past the basics. How do I get to the point of giving a robot commands and seeing how it reacts even as simple as driving it. I’m sure its plugin based but again the tutorials aren’t very helpful and all I could find taught me how to give it a constant velocity on start up. I want to execute code mid simulation to alter the robots path and what not.

submitted by /u/Quack430
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