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[wt_open_manipulator.git] / launch / open_manipulator.launch
1 <?xml version="1.0"?>
2 <launch>
3         <param name="robot_description" command="$(find xacro)/xacro.py $(find wt_open_manipulator)/urdf/wild_thumper_with_manipulator.urdf.xacro use_nominal_extrinsics:=false"/>
4
5         <!-- Load controller configurations from YAML file to parameter server -->
6         <rosparam file="$(find wt_open_manipulator)/config/control.yaml" command="load" />
7
8         <node pkg="wt_open_manipulator" type="wt_open_manipulator_node" name="wt_open_manipulator" output="screen" required="true"/>
9
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"/>
12 </launch>