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<launch>
<!-- Launch Gazebo -->
<include file="$(find seven_dof_arm_gazebo)/launch/seven_dof_arm_world.launch" />
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find seven_dof_arm_gazebo)/config/seven_dof_arm_gazebo_control.yaml" command="load"/>
<!-- load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" ns="/seven_dof_arm" args="joint_state_controller
joint1_position_controller
joint2_position_controller
joint3_position_controller
joint4_position_controller
joint5_position_controller
joint6_position_controller
joint7_position_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="/seven_dof_arm/joint_states" />
</node>
</launch>