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<launch>
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find simple_arm_2)/config/control.yaml" command="load"/>
<!-- load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" ns="/simple_arm" args="joint1_position_controller joint2_position_controller
joint3_position_controller joint4_position_controller joint5_position_controller
joint_state_controller"/>
<!-- 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="/simple_arm/joint_states" />
</node>
</launch>