<launch>

  <!-- robot model -->
  <include file="$(find ur5_description)/launch/load.launch" />
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />

  <!-- driver -->
  <node name="ur5_driver" pkg="ur5_driver" type="driver.py" args="ur5" output="screen" />
   
  <!-- TF Buffer Server -->
  <node pkg="tf2_ros" type="buffer_server" name="tf2_buffer_server" output="screen">
    <param name="buffer_size" value="120.0"/>
  </node>

</launch>