data/mir_simulation/mir_bringup_sim/robots/youbot-brsu-5.launch

<?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 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>

  <!-- 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 -->

  <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>