Copied urdf from open_manipulator_description

[wt_open_manipulator.git] / launch / open_manipulator.launch

diff --git a/launch/open_manipulator.launch b/launch/open_manipulator.launch
index dcb2e7b5ab684c74792de6ceec650d2799a9a775..f6ccaf59dabd44fbcd94841159d5e7d6ff65de13 100644 (file)
--- a/launch/open_manipulator.launch
+++ b/launch/open_manipulator.launch
@@ -1,10 +1,12 @@
 <?xml version="1.0"?>
 <launch>
+       <param name="robot_description" command="$(find xacro)/xacro.py $(find wt_open_manipulator)/urdf/wild_thumper_with_manipulator.urdf.xacro"/>
+
        <!-- Load controller configurations from YAML file to parameter server -->
        <rosparam file="$(find wt_open_manipulator)/config/control.yaml" command="load" />
 
        <node pkg="wt_open_manipulator" type="wt_open_manipulator_node" name="wt_open_manipulator" output="screen" required="true"/>
 
        <!-- load the controllers -->
-       <node name="arm_controller_spawner" pkg="controller_manager" type="spawner" output="screen" args="arm_joint_state_controller arm_controller"/>
+       <node name="arm_controller_spawner" pkg="controller_manager" type="spawner" output="screen" args="arm_joint_state_controller arm_controller gripper_controller"/>
 </launch>