ur10_upload.launch

<?xml version="1.0"?>
<launch>
  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />

  <param name="robot_description" command="$(find xacro)/xacro '$(find agimus_demos)/ur10/pointing/urdf/robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface) gazebo:=true" />

  <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)/config/ur10e_controllers.yaml" command="load"/>
  <node name="joint_state_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn joint_state_controller" respawn="false" output="screen"/>

  <!-- Publish pose of end-effector in topic /pose -->
  <node name="publishwmc" pkg="agimus_demos" type="publishwmc.py"/>

  <!-- Publish extrinsics parameters of camera -->
  <node name="publish_camera_extrinsics" pkg="agimus_demos" type="publish_camera_extrinsics.py"/>

</launch>