Joint Controller does not move robot arm in Gazebo (but works in RViz)

edit

Hello All,

My problem is that when publishing a message to the joint state controller, I can see the robot moves it's arms in RViz but not in Gazebo. Can anyone help me figure out what is wrong? Going through similar questions, it seems like the joint_state_publisher and the libgazebo_ros_control.so plugins have to be added, and I did so.

I have this:

<plugin name="ros_control" filename="libgazebo_ros_control.so">
  <!--robotNamespace>/</robotNamespace-->
  <!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
</plugin>

and this:

<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="use_gui" value="true"/>
</node>

in my urdf and launch files.

Yet, when changing the joints with the joint-publisher-gui, the changes are reflected in RViz but not in gazebo.

Thank you,

Iyantiram