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<launch>

  <rosparam command="load"
            file="$(find urdf_sim_tutorial)/config/joints.yaml"
            ns="my_hand_joint_state_controller" />

  <rosparam command="load"
            file="$(find rrbot_control)/config/finger5_0.yaml"
            ns="finger5_0_controller" />

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  <!-- for finger5 -->  <!-- change to continuous -->
  <joint name="hand_base_to_finger5" type="continuous">
    <parent link="hand_base"/>
    <child link="finger5"/>
    <origin xyz="-0.02861 0.11081 0.00842 " rpy="0 ${2*PI/360*7} ${2*PI/360*6}"/>

    <axis xyz="1 0 0"/>                    <!-- origin 1 0 0 -->
    <limit effort="30" velocity="1"/>
  </joint>

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<launch>

  <!-- these are the arguments you can pass this launch file, for example paused:=true -->
  <arg name="paused" default="false"/>
  <arg name="use_sim_time" default="true"/>
  <arg name="gui" default="true"/>
  <arg name="headless" default="false"/>
  <arg name="debug" default="false"/>

  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->

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  <!-- my try to solve pid. if no use, delete it -->
  <rosparam command="load"
            file="$(find rrbot_control)/config/gazebo_ros_control_params.yaml"/>

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# gazebo_ros_control_params.yaml
gazebo_ros_control/pid_gains:
  hand_base_to_finger5: {p: 100, i: 0.01, d: 10}

# more joint need to add

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# gazebo_ros_control_params.yaml
gazebo_ros_control/pid_gains:
  hand_base_to_finger5: {p: 100, i: 0.01, d: 10}
  finger5_to_finger5_1: {p: 100, i: 0.01, d: 10}
  hand_base_to_finger4: {p: 100, i: 0.01, d: 10}
  finger4_to_finger4_1: {p: 100, i: 0.01, d: 10}
  hand_base_to_finger3: {p: 100, i: 0.01, d: 10}
  finger3_to_finger3_1: {p: 100, i: 0.01, d: 10}
  hand_base_to_finger2: {p: 100, i: 0.01, d: 10}
  finger2_to_finger2_1: {p: 100, i: 0.01, d: 10}

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<launch>

  <rosparam command="load"
            file="$(find urdf_sim_tutorial)/config/joints.yaml"
            ns="my_hand_joint_state_controller" />

  <rosparam command="load"
            file="$(find rrbot_control)/config/finger5_0.yaml"
            ns="finger5_0_controller" />

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<launch>

  <rosparam command="load"
            file="$(find urdf_sim_tutorial)/config/joints.yaml"
            ns="my_hand_joint_state_controller" />

  <node name="r2d2_controller_spawner" pkg="controller_manager" type="spawner"
    args="my_hand_joint_state_controller"/>

</launch>

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# The joint state controller handles publishing transforms for any moving joints
type: "joint_state_controller/JointStateController"
publish_rate: 50

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  <!-- ros_control plugin -->  <!-- original name rrbot -->
  <gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotNamespace>/</robotNamespace>
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
      <legacyModeNS>true</legacyModeNS>
    </plugin>
  </gazebo>