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use kuka lwr in gazebo

Hi, all

I want to use kuka in gazebo. Because kuka lwr has 7DOF. I try to use PR2 controller. r_arm_controller to control kuka. Is it right, or I have to write my own controller.

I am using ROS with gazebo. So I follow the tutorial in ROS groovy. to move kuka which originally control pr2 right arm. What I do is just change the joints name. goal.trajectory.joint_names.push_back("r_shoulder_pan_joint"); goal.trajectory.joint_names.push_back("r_shoulder_lift_joint"); goal.trajectory.joint_names.push_back("r_upper_arm_roll_joint"); goal.trajectory.joint_names.push_back("r_elbow_flex_joint"); goal.trajectory.joint_names.push_back("r_forearm_roll_joint"); goal.trajectory.joint_names.push_back("r_wrist_flex_joint"); goal.trajectory.joint_names.push_back("r_wrist_roll_joint");

to

goal.trajectory.joint_names.push_back("right_arm_0_joint");
goal.trajectory.joint_names.push_back("right_arm_1_joint");
goal.trajectory.joint_names.push_back("right_arm_2_joint");
goal.trajectory.joint_names.push_back("right_arm_3_joint");
goal.trajectory.joint_names.push_back("right_arm_4_joint");
goal.trajectory.joint_names.push_back("right_arm_5_joint");
goal.trajectory.joint_names.push_back("right_arm_6_joint");

the building is succesful, The problem is (1)the kuka robot will move, but not follow my desired path(two predefined points). (2)when I start gazebo simulation, the kuka can not keep zero position(I do not know how to keep the robot as my predefined position). Several joints will be down the ground because the gravity.