gazebo_ros2_control/GazeboSystem $(find go1_description)/config/gazebo.yaml 0.6 0.6 1 Gazebo/Grey true true 1000 true __default_topic__ trunk_imu imu_link 1000.0 0.0 0 0 0 0 0 0 imu_link 0 0 0 0 0 0 0.2 0.2 Gazebo/DarkGrey 0.2 0.2 1 Gazebo/Grey 0.2 0.2 1 Gazebo/DarkGrey 0.6 0.6 1 Gazebo/DarkGrey 0.2 0.2 Gazebo/DarkGrey 0.2 0.2 1 Gazebo/Grey 0.2 0.2 1 Gazebo/DarkGrey 0.6 0.6 1 Gazebo/DarkGrey 0.2 0.2 Gazebo/DarkGrey 0.2 0.2 1 Gazebo/Grey 0.2 0.2 1 Gazebo/DarkGrey 0.6 0.6 1 Gazebo/DarkGrey 0.2 0.2 Gazebo/DarkGrey 0.2 0.2 1 Gazebo/Grey 0.2 0.2 1 Gazebo/DarkGrey 0.6 0.6 1 Gazebo/DarkGrey