X-Git-Url: https://defiant.homedns.org/gitweb/?p=arm_ros_conn.git;a=blobdiff_plain;f=move_base.launch;h=8d46da1af9245e6c5ae965ddb4c1808f69db840e;hp=d15b07722ba01a0d18c60f8f1d1f31b2769a6fb6;hb=069330483527204952c04f74a6b784676ab49c44;hpb=59aa8070d143dfe926defadfd3364d0c2185fef1

diff --git a/move_base.launch b/move_base.launch
index d15b077..8d46da1 100644
--- a/move_base.launch
+++ b/move_base.launch
@@ -14,4 +14,7 @@
 		<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>