Mastering ROS for Robotics Programming - Second Edition

Step 10 – Writing the launch file for the controller

The joint assigned for showing the working of this controller is shoulder_pan_joint of the robot seven_dof_arm. After creating the YAML file, we can create a launch file inside the launch folder, which can load the controller configuration file and run the controller. The launch file is called my_controller.launch, which is given as follows:

<?xml version="1.0" ?> 
<launch> 
  <include file="$(find my_controller)/launch/seven_dof_arm_world.launch" />    
  <rosparam file="$(find my_controller)/my_controller.yaml" command="load"/> 
  <node name="my_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" 
   output="screen" args="my_controller_name"/> 
</launch> 

In the following code, ...