orbit_joint_effort_controller.launch

<launch>

  <!-- start up empty world -->
  <arg name="gui" default="true"/>
  <arg name="paused" default="false"/>
  <param name="/use_sim_time" value="true"/>
  
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
  <arg name="gui" value="$(arg gui)"/>
	<arg name="paused" value="$(arg paused)"/>
   </include>
   
   <param name="robot_description" textfile="$(find ros_control_gazebo_tests)/models/orbit.urdf"/>
   <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-x 0 -y 0 -z 0.80960000 -urdf -param robot_description -model orbit" />
   
   <rosparam ns="orbit">
    joint_state_controller_orbit:
      type: joint_state_controller/JointStateController
      publish_rate: 50
    joint1_effort_controller:
      type: effort_controller/JointEffortController
      joint: left_hip_yaw
    joint2_effort_controller:
      type: effort_controller/JointEffortController
      joint: left_hip_pitch
    joint3_effort_controller:
      type: effort_controller/JointEffortController
      joint: left_knee_pitch
    joint4_effort_controller:
      type: effort_controller/JointEffortController
      joint: left_ankle_pitch
    joint5_effort_controller:
      type: effort_controller/JointEffortController
      joint: right_hip_yaw
    joint6_effort_controller:
      type: effort_controller/JointEffortController
      joint: right_hip_pitch
    joint7_effort_controller:
      type: effort_controller/JointEffortController
      joint: right_knee_pitch
    joint8_effort_controller:
      type: effort_controller/JointEffortController
      joint: right_ankle_pitch
   </rosparam>
  
</launch>