<?xml version="1.0"?>
<launch>
- <param name="robot_description" textfile="$(find arm)/urdf/arm.urdf" />
+ <param name="robot_description" textfile="$(find arm_ros_conn)/urdf/arm.urdf" />
- <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
- <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+ <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>
+
+ <node pkg="arm_ros_conn" type="arm_ros.py" name="arm_ros" output="screen" respawn="false"/>
</launch>