removed move_base

[arm_ros_conn.git] / arm.launch

diff --git a/arm.launch b/arm.launch
index 2ea8f39eca32be4c605c79287f3092fccb32bb3b..9e120c78710efbd8923212e5e6df77318368bbf2 100644 (file)
--- a/arm.launch
+++ b/arm.launch
@@ -1,14 +1,4 @@
 <?xml version="1.0"?>
 <launch>
-       <include file="$(find arm)/launch/openni2.launch" />
-
-       <node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan" output="screen">
-               <remap from="image" to="/camera/depth/image_raw"/>
-               <remap from="camera_info" to="/camera/depth/camera_info"/>
-               <param name="output_frame_id" value="/scan" />
-       </node>
-
-       <param name="robot_description" textfile="$(find arm)/urdf/arm.urdf" />
-
-       <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+       <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" /> 
 </launch>