IMU 센서 읽기 , rqt 튜토리얼

http://answers.gazebosim.org/question/20276/read-imu-sensor-from-a-plugin/

http://wiki.ros.org/rqt/Tutorials/Create%20your%20new%20rqt%20plugin

http://osrf-distributions.s3.amazonaws.com/gazebo/api/dev/classgazebo_1_1physics_1_1JointController.html