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(MoveGroup + JointTrajectoryController)
# Gazebo Simulation
$ roslaunch open_manipulator_controllers joint_trajectory_controller.launch
# Real Robot
$ roslaunch open_manipulator_controllers joint_trajectory_controller.launch sim:=false
(GravityCompensationController)
# Gazebo Simulation# Set trasmission to effort and motor mode to current first
$ roslaunch open_manipulator_controllers gravity_compensation_controller.launch
# Real Robot
$ roslaunch open_manipulator_controllers gravity_compensation_controller.launch sim:=false
