Adding untested gazebo transmission elements following the http://gazebosim.org/wiki/Tutorials/1.9/ROS_Control_with_Gazebo tutorial.
Adding a control package that will have all the joint controller connections into gazebo.
Following rrbot example and tutorial to add joint controllers, position effort is the type for now
Fixed closing tag
Didn't need ros_control as dependency, in fact it screws up the build (TBD follow up with this)

Current error with

$ roslaunch testbot_gazebo testbot_gazebo.launch
... logging to /home/lucasw/.ros/log/ccfe0718-4e50-11e3-9dbf-78e4004aa541/roslaunch-llaptop-8022.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

error loading <rosparam> tag:
	file does not exist [${find testbot_gazebo_control)/config/testbot.yaml]
XML is <rosparam command="load" file="${find testbot_gazebo_control)/config/testbot.yaml"/>

I think the find command is failing, roslaunch doesn't autocomplete it either.