<commit_before><!-- -*- mode: XML -*- -->

<launch>

    <!-- Start Vision System Node -->
<!--  	<include file="$(find vision_system)/launch/ps3Eye.launch" />-->
<!--  	<node name="arduino" pkg="rosserial_python" type="serial_node.py"-->
<!--  			args="/dev/ttyACM0"-->
<!--  			respawn="true" />-->

    <!-- Start Dynamixel Motor Manager -->
  	<include file="$(find delta_robot)/launch/controller_manager.launch" />
    
    <!-- Load joint controller configuration from YAML file to parameter server -->
  	<rosparam file="$(find delta_robot)/config/controllers.yaml" command="load"/>

    <!-- Start all SmartArm joint controllers -->
    <node name="controller_spawner" pkg="dynamixel_controllers" type="controller_spawner.py"
          args="--manager=dxl_manager
                --port delta_port
                joint1_controller
                joint2_controller			
	        	joint3_controller"
		   output="screen"/>
        
   	<!-- Start the base_motor arm trajectory controller -->
	<rosparam file="$(find delta_robot)/config/delta_trajectory_controller.yaml" command="load"/>
    <node name="controller_spawner_meta" pkg="dynamixel_controllers" type="controller_spawner.py" 
    args="--manager=dxl_manager
          --type=meta 
          delta_trajectory_controller 
          joint1_controller 
          joint2_controller 
          joint3_controller" 
          output="screen"/>
  
  	<!-- Publish combined joint info -->
  	<include file="$(find delta_robot)/launch/joint_state_aggregator.launch" />
  
  	<!-- Start Robot Description -->
  	<param name="robot_description" textfile="$(find delta_robot)/urdf/delta_robot_copy1.urdf" />
  	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" output="screen">
  	<rosparam param="source_list">['joint1', 'joint2', 'joint3']</rosparam>
  	<rosparam param="use_gui">TRUE</rosparam>
  	<param name="rate" value="20" />
  	</node>
  	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
  	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find delta_robot)/urdf/urdf.rviz" />

  	<!-- Robot State Stream -->
<!--  	<include file="$(find delta_robot)/launch/joint_state_listener.launch" />-->

  	<!-- Joystick Controller -->
<!--  	<include file="$(find teleop_twist_joy)/launch/teleop.launch" />-->
  	<node name="robot_action_controller" pkg="delta_robot" type="joystick.py" />
<!--  <node name="joystik_controller" pkg="delta_robot" type="joystick_controller" />-->

</launch><commit_msg>Update delta_robot_simulate.launch<commit_after><!-- -*- mode: XML -*- -->

<launch>

    <!-- Start Vision System Node -->
  	<include file="$(find vision_system)/launch/ps3Eye.launch" />
 	<node name="arduino" pkg="rosserial_python" type="serial_node.py"
 		args="/dev/ttyACM0"  respawn="true" />

    <!-- Start Dynamixel Motor Manager -->
  	<include file="$(find delta_robot)/launch/controller_manager.launch" />
    
    <!-- Load joint controller configuration from YAML file to parameter server -->
  	<rosparam file="$(find delta_robot)/config/controllers.yaml" command="load"/>

    <!-- Start all SmartArm joint controllers -->
    <node name="controller_spawner" pkg="dynamixel_controllers" type="controller_spawner.py"
          args="--manager=dxl_manager
                --port delta_port
                joint1_controller
                joint2_controller			
	        joint3_controller"
		output="screen"/>
        
   	<!-- Start the base_motor arm trajectory controller -->
	<rosparam file="$(find delta_robot)/config/delta_trajectory_controller.yaml" command="load"/>
    <node name="controller_spawner_meta" pkg="dynamixel_controllers" type="controller_spawner.py" 
    args="--manager=dxl_manager
          --type=meta 
          delta_trajectory_controller 
          joint1_controller 
          joint2_controller 
          joint3_controller" 
          output="screen"/>
  
  	<!-- Publish combined joint info -->
  	<include file="$(find delta_robot)/launch/joint_state_aggregator.launch" />
  
  	<!-- Start Robot Description -->
  	<param name="robot_description" textfile="$(find delta_robot)/urdf/delta_robot_copy1.urdf" />
  	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" output="screen">
  	<rosparam param="source_list">['joint1', 'joint2', 'joint3']</rosparam>
  	<rosparam param="use_gui">TRUE</rosparam>
  	<param name="rate" value="20" />
  	</node>
  	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
  	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find delta_robot)/urdf/urdf.rviz" />

  	<!-- Joystick Controller -->
<!--  	<include file="$(find teleop_twist_joy)/launch/teleop.launch" />-->
  	<node name="robot_action_controller" pkg="delta_robot" type="joystick.py" />

</launch>
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