<launch> <arg name="moveit_controller_manager" default="pr2_moveit_controller_manager/Pr2MoveItControllerManager"/> <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/> <arg name="controller_manager_name" default="pr2_controller_manager" /> <param name="controller_manager_name" value="$(arg controller_manager_name)"/> <arg name="use_controller_manager" default="false" /> <param name="use_controller_manager" value="$(arg use_controller_manager)" /> <rosparam file="$(find ur5_moveit_config)/config/controllers.yaml"/> </launch>