3 <param name="robot_description" command="$(find xacro)/xacro.py $(find wt_open_manipulator)/urdf/wild_thumper_with_manipulator.urdf.xacro use_nominal_extrinsics:=false"/>
5 <!-- Load controller configurations from YAML file to parameter server -->
6 <rosparam file="$(find wt_open_manipulator)/config/control.yaml" command="load" />
8 <node pkg="wt_open_manipulator" type="wt_open_manipulator_node" name="wt_open_manipulator" output="screen" required="true"/>
10 <!-- load the controllers -->
11 <node name="arm_controller_spawner" pkg="controller_manager" type="spawner" output="screen" args="arm_joint_state_controller arm_controller gripper_controller"/>