<rosparam file="$(find arm)/config/local_costmap_params.yaml" command="load" />
<rosparam file="$(find arm)/config/base_local_planner_params.yaml" command="load" />
</node>
+
+ <param name="robot_description" command="$(find xacro)/xacro.py $(find arm)/urdf/arm.urdf.xacro" />
+ <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
</launch>