<?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>