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Thanks hsu this help me find the underlying problem, which seems to be that my model has no friction or self collision.

Originally, when I disabled the controller, the model would spawn and sit in place. Now it spawns, links pass through each other and it rolls and flops onto the ground:

http://answers.ros.org/question/43457/gazebo-no-friction-no-self-collide-self-collision-not-working/

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