robot.launch

<?xml version="1.0" ?>
<launch>
  <!-- Load universal robot description format (URDF) -->
  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find reach_ros)/demo/model/reach_study.xacro'" />

  <!-- The semantic description that corresponds to the URDF -->
  <param name="robot_description_semantic" textfile="$(find reach_ros)/demo/model/reach_study.srdf" />

  <!-- Load updated joint limits (override information from URDF) -->
  <group ns="robot_description_planning">
    <rosparam command="load" file="$(find reach_ros)/demo/model/joint_limits.yaml"/>
  </group>

  <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
  <group ns="robot_description_kinematics">
    <rosparam command="load" file="$(find reach_ros)/demo/model/kinematics.yaml"/>
  </group>

</launch>