From 980eb8ddd982259d290dc9b1f965a5f364c2fbf0 Mon Sep 17 00:00:00 2001
From: Thomas Timm Andersen <thomas.timm.dk@gmail.com>
Date: Fri, 25 Sep 2015 10:20:56 +0200
Subject: [PATCH] Updated ur10_ros_control.launch to load all controllers

---
 launch/ur10_ros_control.launch | 12 +++++++-----
 1 file changed, 7 insertions(+), 5 deletions(-)

diff --git a/launch/ur10_ros_control.launch b/launch/ur10_ros_control.launch
index 545fccc..4eccad3 100644
--- a/launch/ur10_ros_control.launch
+++ b/launch/ur10_ros_control.launch
@@ -27,15 +27,17 @@
     </node>
 
     <!-- Load controller settings -->
-    <rosparam file="$(find ur_modern_driver)/config/ur10_controllers.yaml" command="load"/>
+    <rosparam file="$(find ur_modern_driver)/config/ur5_controllers.yaml" command="load"/>
 
-    <!-- Load controller manager -->
-    <node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
-	  output="screen" args="spawn joint_state_controller force_torque_sensor_controller velocity_based_position_trajectory_controller" /> 
+    <!-- spawn controller manager -->
+    <node name="ros_control_controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+	  output="screen" args="joint_state_controller force_torque_sensor_controller velocity_based_position_trajectory_controller" />
+	<!-- load other controller --> 
+	<node name="ros_control_controller_manager" pkg="controller_manager" type="controller_manager" respawn="false"
+	  output="screen" args="load position_based_position_trajectory_controller" /> 
 
     <!-- Convert joint states to /tf tranforms -->
     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
-
   </group>
 
 </launch>