Included a first version of the pan and tilt to check that all is working

config/ana_pan_tilt_effort_sim_config.yaml

+ana:
+
+  joint_state_controller:
+    type: "joint_state_controller/JointStateController"
+    publish_rate: 50  
+
+  effort_controller:
+    type: "effort_controllers/JointTrajectoryController"
+    joints:
+      - pan
+      - tilt
+    gains:
+      pan: {p: 40, d: 0, i: 10, i_clamp: 1000}
+      tilt: {p: 20, d: 0, i: 0, i_clamp: 1000}
+    constrains:
+      pan:
+        goal: 0.02
+        trajectory: 0.05
+      tilt:
+        goal: 0.02
+        trajectory: 0.05
+    state_publish_rate: 50
+    allow_partial_joints_goal: true
+

config/ana_pan_tilt_gazebo.yaml

+robotNamespace: ana
+robotParam: ana/robot_description
+

config/ana_pan_tilt_position_sim_config.yaml

+ana:
+
+  joint_state_controller:
+    type: "joint_state_controller/JointStateController"
+    publish_rate: 50  
+
+  position_controller:
+    type: "position_controllers/JointTrajectoryController"
+    joints:
+      - pan
+      - tilt
+    gains:
+      pan: {p: 40, d: 0, i: 10, i_clamp: 1000}
+      tilt: {p: 20, d: 0, i: 0, i_clamp: 1000}
+    constrains:
+      pan:
+        goal: 0.02
+        trajectory: 0.05
+      tilt:
+        goal: 0.02
+        trajectory: 0.05
+    state_publish_rate: 50
+    allow_partial_joints_goal: true
+
+gazebo_ros_control:   
+  pid_gains:
+    pan:
+      p: 0.01
+      i: 0.0
+      d: 0.0
+    tilt:
+      p: 0.01
+      i: 0.0
+      d: 0.0

launch/sim_sample.launch

@@ -8,6 +8,9 @@
   <arg name="rviz"  default="false"/>
   <arg name="gui"   default="true"/>
 
+  <arg name="pan_tilt_controller_config_file" default="$(find iri_ana_gazebo)/config/ana_pan_tilt_effort_sim_config.yaml" />
+  <arg name="pan_tilt_controller" default="effort_controller" />
+
   <include file="$(find iri_gazebo_worlds)/launch/test.launch">
     <arg name="gui"         value="$(arg gui)"/>
     <arg name="world_name"  value="$(arg world_name)"/> 
@@ -21,6 +24,8 @@
     <arg name="x"     value="0.0"/>
     <arg name="y"     value="0.0"/>
     <arg name="yaw"   value="0.0"/>
+    <arg name="pan_tilt_controller_config_file"    value="$(arg pan_tilt_controller_config_file)"/>
+    <arg name="pan_tilt_controller"    value="$(arg pan_tilt_controller)"/>
   </include>
 
   <include file="$(find iri_rosnav)/launch/include/cmd_vel_mux.launch">

launch/spawn.launch

@@ -6,6 +6,9 @@
   <arg name="x"     default="0.0"/>
   <arg name="y"     default="0.0"/>
   <arg name="yaw"   default="0.0"/>
+
+  <arg name="pan_tilt_controller_config_file" default="$(find iri_ana_gazebo)/config/ana_pan_tilt_effort_sim_config.yaml" />
+  <arg name="pan_tilt_controller" default="effort_controller" />
   
   <include file="$(find iri_ana_description)/launch/description.launch">
     <arg name="ns"            value="$(arg ns)"/>
@@ -22,4 +25,10 @@
   
   </group>
 
+  <include file="$(find iri_joint_trajectory_gazebo)/launch/iri_joint_trajectory_gazebo.launch">
+    <arg name="config_file" value="$(arg pan_tilt_controller_config_file)"/>
+    <arg name="controller" value="$(arg pan_tilt_controller)"/>
+    <arg name="robot_ns" value="$(arg ns)"/>
+  </include>
+
 </launch>

package.xml

@@ -55,6 +55,8 @@
   <exec_depend>iri_depth_camera_gazebo</exec_depend>
   <exec_depend>iri_imu_gazebo</exec_depend>
   <exec_depend>iri_velodyne_gazebo</exec_depend>
+  <exec_depend>iri_dynamixel_pan_tilt_gazebo</exec_depend>
+  <exec_depend>iri_joint_trajectory_gazebo</exec_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->