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I managed to get my robot to work. I have some suggestions for you. First when you spawn the urdf in your launch file you have to spawn it with the name of your robot not rrbot because I think gazebo creates the controllers in the robot name namespace. In your urdf you have in every joint "effort=0.0" which is wrong, this variable defines how much torque of the motor goes to the joint. It has to be more than 0 if the joint has to move. That's all I could suggest!