launch/open_manipulator.launch

   1 <?xml version="1.0"?>
   2 <launch>
   3         <param name="robot_description" command="$(find xacro)/xacro.py $(find wt_open_manipulator)/urdf/wild_thumper_with_manipulator.urdf.xacro use_nominal_extrinsics:=false"/>
   4
   5         <!-- Load controller configurations from YAML file to parameter server -->
   6         <rosparam file="$(find wt_open_manipulator)/config/control.yaml" command="load" />
   7
   8         <node pkg="wt_open_manipulator" type="wt_open_manipulator_node" name="wt_open_manipulator" output="screen" required="true"/>
   9
  10         <!-- load the controllers -->
  11         <node name="arm_controller_spawner" pkg="controller_manager" type="spawner" output="screen" args="arm_joint_state_controller arm_controller gripper_controller"/>
  12 </launch>