How to implement the position_controllers correctly?

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Hello everybody,

I would like to use the position_controllers/JointPositionController after loading my robot in gazebo to move a joint up and down with the command

"rostopic pub -1 /joint1/command std_msgs/Float64 "data: 5.0""

But the joint1 is not moving. I do not know why? Do you have any advice?

My .yaml file for this joint1 is:

joint1:
    type: position_controllers/JointPositionController
    joint: joint_base_link

the transmission in my urdf file for this joint1 is:

<transmission name="tran">
        <type>transmission_interface/SimpleTransmission</type>
        <joint name="joint_base_link">
          <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
        </joint>
        <actuator name="joint">
          <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
          <mechanicalReduction>1</mechanicalReduction>
        </actuator>
      </transmission>

Thank you very much!