Problem with ROS control and Gazebo.

edit

Hello,

I have a problem with controlling a URDF that I exported from SolidWorks. (Ubuntu 16.04 , Kinetic, Gazebo 7.x) I followed this tutorial and I wanted to implemented on my robot. All the controllers are starting correctly so as the Gazebo simulation also the Node publish the data correctly I have checked it with echo-ing the topic and with different values for the data. Is there a chance not working because the PID values ?

All the transmissions look like this :

<transmission name="tran1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Joint_1">
  <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor1">
  <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
  <mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>

The controller is like this (for all joints) :

joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50
joint1_position_controller:
    type: effort_controllers/JointPositionController
    joint: Joint_1
    pid: {p: 100.0, i: 0.01, d: 10.0}

And I have this node:

rospy.init_node('ArmMovement')
pub1=rospy.Publisher("/rrbot/joint1_position_controller/command",Float64,queue_size=10 )
rate = rospy.Rate(50)
ArmCor1= Float64()
ArmCor1.data=0
pub1.publish(ArmCor1)
rate.sleep()

Edit#1 : Part of URDF for the Joint_1:

 <joint name="Joint_1" type="revolute">
<origin
  xyz="0 0 -0.008"
  rpy="1.5708 0 0" />
<parent link="base_link" />
<child link="Link_1" />
<axis
  xyz="0 1 0" />
<limit
  lower="0"
  upper="3.14"
  effort="0"
  velocity="0" />
 </joint>