iiwa_14_r820_robot_description 내에 upload_robot.launch 생성

<launch>
    <param name="robot_description" command="$(find xacro)/xacro $(find iiwa_14_r820_robot_description)/urdf/robot.urdf.xacro" />
    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"/>
</launch>

로봇팔의 Gazebo에 관련한 패키지를 생성

$ catkin create pkg iiwa_14_r820_robot_gazebo --catkin-deps gazebo_ros iiwa_14_r820_robot_description
$ catkin build 
$ source ~/.bashrc

launch 파일 만들어봅니다.

$ roscd iiwa_14_r820_robot_gazebo
$ mkdir launch
$ cd launch

bringup.launch

<launch>
    <include file="$(find gazebo_ros)/launch/empty_world.launch"/>
    <include file="$(find iiwa_14_r820_robot_description)/launch/upload_robot.launch"/>
    <node name="spawn_robot" pkg="gazebo_ros" type="spawn_model"
        args="-urdf -param robot_description -model iiwa_14_r820_robot -x 0.0 -y 0.0 -z 0.0"
        output="screen"/>
</launch>

View → Center of Mass

View → Inertias