<!–?xml version=“1.0”?–>

<launch>

<!–arg name=“planning_plugin” value=“ompl_interface_ros/OMPLPlanner” /–>

<include file="$(find manipulator_config)/launch/planning_context.launch">
  <arg name="load_robot_description" value="true"/>
</include>

  <!--node pkg="tf" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 /odom_combined /base_link 100" respawn="true" output="screen"/-->
  <node pkg="artemis_state_publisher" type="artemis_state_publisher_node" name="state_publisher" />

<!--node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
  <param name="/use_gui" value="false"/>
</node-->

<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />

<include file="$(find manipulator_config)/launch/move_group.launch">
  <arg name="allow_trajectory_execution" value="false"/>
</include>

<rosparam command=“load” file=“$(find manipulator_config)/config/kinematics.yaml”/>

<!--include file="$(find manipulator_config)/launch/moveit_rviz.launch">
  <arg name="config" value="false"/>
</include-->

<!--include file="$(find manipulator_config)/launch/default_warehouse_db.launch" />

  <rosparam command="load" file="$(find manipulator_config)/config/kinematics.yaml"/>
  <param name="/planning_plugin" value="ompl_interface/OMPLPlanner"/>
  <rosparam command="load" file="$(find manipulator_config)/config/ompl_planning.yaml"/>

  <param name="octomap_frame" type="string" value="/world" />
  <param name="octomap_resolution" type="double" value="0.05" />
  <param name="max_range" type="double" value="3.0" /-->

<!– extra took it from moveit–>

<!--include ns="move_group" file="$(find manipulator_config)/launch/sensor_manager.launch">
  <arg name="moveit_sensor_manager" value="artemis" />
</include-->

<node pkg="manipulator_motionplanner" type="manipulator_motionplanner" name="artemis_motionPlanner" output="screen" />

<node pkg="manipulator_motionplanner" type="rock_ros_wrapper" name="artemis_rock_ros_wrapper_node" output="screen" />

</launch>