joint_trajectory_controller.launch

<?xml version="1.0" ?>
<launch>
  <arg name="sim" default="true"/>
  <arg name="usb_port" default="/dev/ttyUSB0" />

  <!-- startup ros_control for real robot -->
  <group unless="$(arg sim)">
    <include file="$(find open_manipulator_hw)/launch/open_manipulator_control.launch">
      <arg name="usb_port" value="$(arg usb_port)"/>
    </include>
  </group>

  <!-- startup simulated world and spawn robot-->
  <group if="$(arg sim)">
    <include file="$(find open_manipulator_hw)/launch/open_manipulator_gazebo.launch"/>
  </group>

  <!-- controller utils -->
  <include file="$(find open_manipulator_hw)/launch/controller_utils.launch"/>

  <!-- joint_trajectory_controller -->
  <group unless="$(arg sim)">
    <rosparam file="$(find open_manipulator_controllers)/config/joint_trajectory_controller.yaml" command="load"/>
  </group>
  <group if="$(arg sim)">
    <rosparam file="$(find open_manipulator_controllers)/config/joint_trajectory_controller_gazebo.yaml" command="load"/>
  </group>
  <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" respawn="false" output="screen" args="spawn arm_controller"/>
  <node name="gripper_controller_spawner" pkg="controller_manager" type="controller_manager" respawn="false" output="screen" args="spawn gripper_controller"/>

  <!-- startup move_group related -->
  <include file="$(find open_manipulator_moveit_config)/launch/move_group.launch"/>
  <include file="$(find open_manipulator_moveit_config)/launch/moveit_rviz.launch"/>
</launch>