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<?xml version="1.0"?>
<launch>
<arg name="use_arm_traj_ctrl" default="true"/>
<!-- launch base controller -->
<include file="$(find youbot_gazebo_control)/launch/base_controller.launch" />
<!-- launch arm and gripper controller -->
<group if="$(arg use_arm_traj_ctrl)">
<include file="$(find youbot_gazebo_control)/launch/arm_controller.launch" />
</group>
<group unless="$(arg use_arm_traj_ctrl)">
<include file="$(find youbot_gazebo_control)/launch/vel_arm_controller.launch" />
</group>
<include file="$(find mir_arm_cartesian_control)/ros/launch/arm_cartesian_control_youbot.launch" />
<include file="$(find mir_twist_mux)/ros/launch/twist_mux.launch" />
<!-- launch dynamixel gripper controller -->
<rosparam file="$(find mir_bringup_sim)/controller/dynamixel_gripper_controller.yaml" command="load" ns="arm_1"/> <!-- upload gripper controller parameters -->
<node pkg="controller_manager" type="spawner" name="arm_1_gripper_controller_spawner" args="arm_1/gripper_controller" respawn="false" output="screen" /> <!-- spawn gripper controller -->
</launch>
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