<?xml version="1.0"?>
<launch>
- <param name="robot_description" command="$(find xacro)/xacro.py $(find wt_open_manipulator)/urdf/wild_thumper_with_manipulator.urdf.xacro"/>
+ <param name="robot_description" command="$(find xacro)/xacro.py $(find wt_open_manipulator)/urdf/wild_thumper_with_manipulator.urdf.xacro use_nominal_extrinsics:=false"/>
<!-- Load controller configurations from YAML file to parameter server -->
<rosparam file="$(find wt_open_manipulator)/config/control.yaml" command="load" />