- <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"/>