Gazebo - SCARA URDF shown floating in air, cannot find topics to publish to after going through URDF tutorial.

edit

https://github.com/lukewebdev/SCARA-5...

roslaunch scara_52900 joints.launch

Gazebo shows the SCARA arm in the air...at one point it was floating down to the ground but now it stopped but I can't get it to start out on the ground.

Also, rostopic list I thought would show me something like /scara_52900/scara_52900_waist_controller/command or something...I can't figure out how to publish to this topic to make the joint move. After I launch, I can't see any topics I thought would be created by what I've done so far.

Thanks for any help.