Change Robot Position (Floating)

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Change Robot Position (Floating)

Hi everyone,

I am currently trying to simulate a robot fish in gazebo. I have managed to make the joints move, but the fish stays on the same spot, so, I'm thinking of having an extra controller-interface and write some C++ codes that can change the position (3D hopefully) of the fish wherever I want. (or apply forces to move it)

So far, I have not been able to find a suitable one. I am a newbie in Player-Stage-Gazebo, so, if anyone has any suggestion (even if it's just 2D controller), it would certainly be of great help! =D