3 <param name="robot_description" textfile="$(find arm_ros_conn)/urdf/arm.urdf" />
5 <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>
7 <node pkg="arm_ros_conn" type="arm_ros_conn.py" name="arm_ros_conn" output="screen" respawn="false"/>