理解Gazebo plugins

1. 深入理解Gazebo与ROS的关系，gazebo网站上的三套tutorials需要完成：
   a. Intermediate: Customize simulation
   b. Write a plugin
   c. Connect to ROS

2. gazebo中关节参数设定的ODE guide

3. 完成1.c这一tutorial时加载controllers会出现的error：

[ERROR] [1546833008.127589810, 17.940000000]: Could not load controller 'joint_state_controller' because controller type 'joint_state_controller/JointStateController' does not exist.
[ERROR] [1546833008.127657283, 17.940000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1546833009.196223574, 19.000000000]: Could not load controller 'joint1_position_controller' because controller type 'effort_controllers/JointPositionController' does not exist.
[ERROR] [1546833009.196400640, 19.000000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1546833010.208745643, 20.005000000]: Could not load controller 'joint2_position_controller' because controller type 'effort_controllers/JointPositionController' does not exist.
[ERROR] [1546833010.208900391, 20.005000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types

解决方法：https://blog.csdn.net/wangjiankun_ls/article/details/56485742 安装不能加载的controllers
例如：

sudo apt-get install ros-kinetic-joint-state-controller
sudo apt-get install ros-kinetic-position-controllers