X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_roboint.git;a=blobdiff_plain;f=explorer_configuration.launch;fp=explorer_configuration.launch;h=fa4e33d5b83d96e317e27def1230cbc6507123d4;hp=edfdc1cdd26451d4c52780b2ebb7f7a653a7aa77;hb=f5eea9a58ebf3f5740c64e4b77c3fe52ed9fa351;hpb=546244d48efb7bcc4b869ba78a25232619f53a76

diff --git a/explorer_configuration.launch b/explorer_configuration.launch
index edfdc1c..fa4e33d 100644
--- a/explorer_configuration.launch
+++ b/explorer_configuration.launch
@@ -1,4 +1,6 @@
 <launch>
+	<param name="robot_description" textfile="urdf/explorer.urdf" />
+
 	<node pkg="roboint" type="libft_adapter" name="libft_adapter" output="screen">
 	</node>
 
@@ -10,4 +12,6 @@
 		<!-- Size of wheel Diameter in meter (5.15cm) * gear ratio (0.5) = 2.575cm -->
 		<param name="wheel_size" value="0.02575" />
 	</node>
+
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
 </launch>