xacro simple_pendulum_editted.xacro > simple_pendulum_editted.urdf
xacro simple_pendulum.xacro > simple_pendulum.urdf
ros2 topic pub /joint_command sensor_msgs/msg/JointState "{name: ['continuous_joint'], position: [0.0], velocity: [1.0], effort: [0.0]}"
ros2 run joint_ctrl_example position_ctrl
ros2 run joint_ctrl_example velocity_ctrl
ros2 run joint_ctrl_example torque_ctrl
