ur3.launch

<?xml version="1.0"?>
<launch>
  <arg name="limited" default="false"/>
  <arg name="paused" default="false"/>
  <arg name="gui" default="true"/>
  
  <!-- startup simulated world -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" default="worlds/empty.world"/>
    <arg name="paused" value="$(arg paused)"/>
    <arg name="gui" value="$(arg gui)"/>
  </include>

  <!-- send robot urdf to param server -->
  <include file="$(find ur_description)/launch/ur3_upload.launch">
    <arg name="limited" value="$(arg limited)"/>
  </include>

  <!-- push robot_description to factory and spawn robot in gazebo -->
  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -z 0.1" respawn="false" output="screen" />

  <include file="$(find ur_gazebo)/launch/controller_utils.launch"/>

  <rosparam file="$(find ur_gazebo)/controller/arm_controller_ur3.yaml" command="load"/>
  <node name="arm_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn arm_controller" respawn="false" output="screen"/>

</launch>