${controllers_file} Gazebo/DarkGrey Gazebo/Red Gazebo/Blue Gazebo/Green Gazebo/Yellow Gazebo/Orange Gazebo/Purple Gazebo/Grey 0.6 0.6 1e7 1e4 0.001 0.01 Gazebo/Black 0.6 0.6 1e7 1e4 0.001 0.01