rb1_torso_control.launch

<?xml version="1.0"?>
<launch>

  <!-- load the controllers -->
  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
    output="screen" ns="/rb1" args="--namespace=/rb1
                      j1_torso_controller
                      j1_head_controller
                      j2_head_controller
                      "/>

  <!-- Load joint controller configurations from YAcd .ML file to parameter server -->
  <rosparam file="$(find rb1_torso_control)/config/rb1_torso_control.yaml" command="load"/>

  <!-- once the joint_state is published, run the robot_state_publisher, the namespace has to be adapted --> 
  <!-- convert joint states to TF transforms for rviz, etc -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
    respawn="false" output="screen">
    <remap from="/joint_states" to="/rb1/joint_states" />
  </node>

</launch>