**My goal**
My goal is to have the [turtlebot arm](http://wiki.ros.org/turtlebot_arm) simulated in Gazebo and control its
movements programmatically (preferably through [MoveIt](http://moveit.ros.org/)). I don't want/need the turtlebot itself, just the arm.
**What I've done**
I have git cloned & catkin build & sourced the [packages](https://github.com/turtlebot/turtlebot_arm) for the turtlebot arm (and also the [arbotix-packages](https://github.com/vanadiumlabs/arbotix_ros)), and there are already the description package (with the urdf-files), a MoveIt package and various other packages in the repository, but unfortunately no Gazebo package. I can run the MoveIt demo (`roslaunch turtlebot_arm_moveit_config demo.launch`) where one can set the goal pose of the arm in Rviz and plan & execute the arm to get to the desired pose. I know that one can do that also programmatically through a python script or a C++ program (as described [here](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/move_group_interface_tutorial.html)).
I tried to make a Gazebo package myself, taking the one from the [universal robot](https://github.com/ros-industrial/universal_robot/tree/kinetic-devel/ur_gazebo) as a template, but I'm a bit lost with all the files in there. I managed to load the robot arm into Gazebo (with the base_link fixed), but there the arm just falls down, as if there were no controllers running. With the running Gazebo simulation, I get the following `rostopic list`:
/gripper_controller/gripper_action/cancel
/gripper_controller/gripper_action/feedback
/gripper_controller/gripper_action/goal
/gripper_controller/gripper_action/result
/gripper_controller/gripper_action/status
/gripper_joint/command
My Gazebo launch file looks like this:
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