From dc49deaf1880eef5a6c7ac84ca975435ab886f6b Mon Sep 17 00:00:00 2001
From: Thomas Timm Andersen <thomas.timm.dk@gmail.com>
Date: Fri, 25 Sep 2015 09:59:10 +0200
Subject: [PATCH] Made sure all controllers are loaded

---
 launch/ur5_ros_control.launch | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/launch/ur5_ros_control.launch b/launch/ur5_ros_control.launch
index b9644b7..8064177 100644
--- a/launch/ur5_ros_control.launch
+++ b/launch/ur5_ros_control.launch
@@ -29,9 +29,12 @@
     <!-- Load controller settings -->
     <rosparam file="$(find ur_modern_driver)/config/ur5_controllers.yaml" command="load"/>
 
-    <!-- Load controller manager -->
+    <!-- spawn controller manager -->
     <node name="ros_control_controller_manager" pkg="controller_manager" type="spawner" respawn="false"
-	  output="screen" args="joint_state_controller force_torque_sensor_controller position_based_position_trajectory_controller" /> 
+	  output="screen" args="joint_state_controller force_torque_sensor_controller position_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 velocity_based_position_trajectory_controller" /> 
 
     <!-- Convert joint states to /tf tranforms -->
     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>