publish joint messages, added gripper 35978

[arm_ros_conn.git] / launch / arm.launch

diff --git a/launch/arm.launch b/launch/arm.launch
index 3be44ff48c36bb62c5819acea32bec4a1a8695dd..ce1ed916c21120abef1442246a08157c264819c4 100644 (file)
--- a/launch/arm.launch
+++ b/launch/arm.launch
@@ -2,6 +2,7 @@
 <launch>
        <param name="robot_description" textfile="$(find arm)/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" type="arm_ros_conn.py" name="arm_ros_conn" output="screen" respawn="true"/>
 </launch>