common.launch

<launch>
	<arg name="paused"/>
	<arg name="gui"/>
	<include file="$(find gazebo_ros)/launch/empty_world.launch">
		<arg name="paused" value="$(arg paused)"/>
		<arg name="world_name" value="worlds/empty_sky.world" />
		<arg name="gui" value="$(arg gui)"/>
	</include>
	<param name="robot_description" command="$(find xacro)/xacro '$(find bobble_controllers)/test/xacro/bobble_world.urdf.xacro'" />
	<node name="bobble_spawner" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model bobblebot" respawn="false" output="screen" />
	<node name="controller_spawner" pkg="controller_manager" type="spawner"
		respawn="false" output="screen" ns="/bobble"
		args="bobble_balance_controller"/>
	<node pkg="bobble_controllers" type="BobbleStateHold" name="BobbleBotStateHolder" output="screen">
    </node>
</launch>