Rune Harlyk
16 lines
656 B
XML
16 lines
656 B
XML
<launch>
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<!-- Load joint controller configurations from YAML file to parameter server -->
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<rosparam file="$(find mini_ros)/config/control.yaml" command="load"/>
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<!-- Load the controllers -->
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<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
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output="screen" ns="/spot" args="joint_group_position_controller joint_states_controller"/>
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<!-- convert joint states to TF transforms for rviz, etc -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="false" output="screen">
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<remap from="/joint_states" to="/spot/joint_states" />
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</node>
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</launch> |