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Hello, I am fairly new to Gazebo as well, so please take my answer with a pinch of salt. Essentially, the joint state publisher will not publish the right joint states of the robots, and publishes values only for your 'fake' RViz simulation.

You need to create a controllers.yaml file, specifying your joints and the joint state publisher, and spawn a controller_controller_manager and robot state publisher to reflect it in Gazebo.

I found this video to be very helpful. I followed the steps here to get my setup to work.

Hello, I am fairly new to Gazebo as well, so please take my answer with a pinch of salt. Essentially, the joint state publisher will not publish the right joint states of the robots, and publishes values only for your 'fake' RViz simulation.

You need to create a controllers.yaml file, specifying your joints and the joint state publisher, and spawn a controller_controller_manager controller_manager and robot state publisher to reflect it in Gazebo.

I found this video to be very helpful. I followed the steps here to get my setup to work.