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

  <!-- Robot state publisher -->
  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
    <param name="publish_frequency" type="double" value="50.0" />
    <param name="tf_prefix" type="string" value="" />
  </node>

  <!-- Fake Calibration -->
  <node pkg="rostopic" type="rostopic" name="fake_joint_calibration"
        args="pub /calibrated std_msgs/Bool true" />
  
  <!-- joint_state_controller -->
  <rosparam file="$(find ur_gazebo)/controller/joint_state_controller.yaml" command="load"/>
  <node name="joint_state_controller_spawner" pkg="controller_manager" type="spawner" args="joint_state_controller" />
  
</launch>