3 <!-- Load controller configurations from YAML file to parameter server -->
4 <rosparam file="$(find wt_open_manipulator)/config/control.yaml" command="load" />
6 <node pkg="wt_open_manipulator" type="wt_open_manipulator_node" name="wt_open_manipulator" output="screen" required="true"/>
8 <!-- load the controllers -->
9 <node name="arm_controller_spawner" pkg="controller_manager" type="spawner" output="screen" args="arm_joint_state_controller arm_controller"/>