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

  <!-- startup simulated world -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" default="worlds/empty.world"/>
  </include>

  <!-- send frida urdf to param server -->
  <param name="robot_description" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/ur10_robot.urdf.xacro'" />

  <!-- 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_ur10.yaml" command="load"/>
  <node name="arm_controller_spawner" pkg="controller_manager" type="spawner" args="arm_controller" />

</launch>