$ catkin create pkg iiwa_14_r820_robot_control --catkin-deps ros_control ros_controllers
$ catkin build 

catkin build 시 에러가 발생하면, iiwa_14_r820_robot_control에서 CMakeLists.txt 파일에서

ros_control, ros_controllers에 대해 주석 처리

cmake_minimum_required(VERSION 3.0.2)
project(iiwa_14_r820_robot_control)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  # ros_control
  # ros_controllers
)

...

$ catkin build 
$ source ~/.bashrc

컨트롤러에 대한 설정 파일을 만들어줍니다.

iiwa_14_r820_robot_control/config/controllers.yaml

joint_state_controller:
  type: joint_state_controller/JointStateController
  publish_rate: 50

arm_controller:
  type: position_controllers/JointTrajectoryController
  joints:
    - a1
    - a2
    - a3
    - a4
    - a5
    - a6
    - a7
  constraints:
      goal_time: 0.6
      stopped_velocity_tolerance: 0.05
      a1: {trajectory: 0.1, goal: 0.1}
      a2: {trajectory: 0.1, goal: 0.1}
      a3: {trajectory: 0.1, goal: 0.1}
      a4: {trajectory: 0.1, goal: 0.1}
      a5: {trajectory: 0.1, goal: 0.1}
      a6: {trajectory: 0.1, goal: 0.1}
      a7: {trajectory: 0.1, goal: 0.1}
  stop_trajectory_duration: 0.5
  state_publish_rate:  50
  action_monitor_rate: 10

컨트롤러를 실행하기 위해서 launch 파일을 생성.

iiwa_14_r820_robot_control/launch/bringup_controllers.launch

<launch>
    <rosparam file="$(find iiwa_14_r820_robot_control)/config/controllers.yaml" command="load"/>
    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="true"
            output="screen" args="  joint_state_controller
                                    arm_controller">
    </node>
</launch>

이제 로봇을 불러오고,

$ roslaunch iiwa_14_r820_robot_gazebo bringup.launch