robot.launch

<?xml version="1.0" encoding="UTF-8"?>
<launch>

<param command="$(find xacro)/xacro $(find swerve_description)/urdf/swerve.xacro" name="robot_description"/>

<include file="$(find gazebo_ros)/launch/empty_world.launch">
  <arg name="world_name" default="worlds/empty.world"/>
</include>

<node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model swerve -x 0 -y 0 -z 0"
      respawn="false" output="screen" />

<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>


<rosparam file="$(find swerve_steering_controller)/test/config/ros_controllers.yaml" command="load"/>

<node name="tfpublisher" pkg="swerve_steering_controller" type="odompublisher.py"/>

<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
  output="screen" args="swerve_steering_controller joint_state_controller"/>

</launch>