gazebo_ros2_control/GazeboSystem /root/ws/install/share/xarm_controller/config/xarm6_controllers.yaml gazebo_ros2_control/GazeboSystem xarm False P R normal 6 True 2000000 lite False -6.283185307179586 6.283185307179586 -3.14 3.14 -2.61799 2.61799 -3.14 3.14 -0.061087 5.235988 -3.14 3.14 -6.283185307179586 6.283185307179586 -3.14 3.14 -2.1642 2.1642 -3.14 3.14 -6.283185307179586 6.283185307179586 -3.14 3.14 transmission_interface/SimpleTransmission hardware_interface/PositionJointInterface hardware_interface/PositionJointInterface 100 transmission_interface/SimpleTransmission hardware_interface/PositionJointInterface hardware_interface/PositionJointInterface 100 transmission_interface/SimpleTransmission hardware_interface/PositionJointInterface hardware_interface/PositionJointInterface 100 transmission_interface/SimpleTransmission hardware_interface/PositionJointInterface hardware_interface/PositionJointInterface 100 transmission_interface/SimpleTransmission hardware_interface/PositionJointInterface hardware_interface/PositionJointInterface 100 transmission_interface/SimpleTransmission hardware_interface/PositionJointInterface hardware_interface/PositionJointInterface 100 true true true true true true true odom:=pen_position world link6 10