arm_gazebo_control.launch

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

  <param name="robot_description" textfile="$(find mobile_manipulator_body)/urdf/robot_arm.urdf" />
  <include file="$(find gazebo_ros)/launch/empty_world.launch"/>
  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model robot_arm" />
  <rosparam command="load" file="$(find mobile_manipulator_body)/config/arm_control.yaml" />
  <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/>
  <rosparam command="load" file="$(find mobile_manipulator_body)/config/joint_state_controller.yaml" />
  <node name="joint_state_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn joint_state_controller" respawn="false" output="screen"/>
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen"/>

</launch>