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Do you need gazebo ( a physics sim) or will rviz meet your needs (a kinematic sim). The ROS-I tutorial walks through tibia (including controllers). http://ros.org/wiki/Industrial/Tutorials/Create_a_MoveIt_Pkg_for_an_Industrial_Robot

Do you need gazebo ( a physics sim) or will rviz meet your needs (a kinematic sim). The ROS-I tutorial walks through ~~tibia~~ the rviz setup (including controllers). http://ros.org/wiki/Industrial/Tutorials/Create_a_MoveIt_Pkg_for_an_Industrial_Robot

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