<launch>
	<let name="urdf_path"
        value="$(find-pkg-share robot_description)/urdf/skyentific_robot.urdf.xacro" />
	<let name="rviz_config_path"
        value="$(find-pkg-share robot_bringup)/config/robot_moveit.rviz" />
	<node pkg="robot_state_publisher" exec="robot_state_publisher">
		<param name="robot_description"
            value="$(command 'xacro $(var urdf_path)')" />
	</node>
	<node pkg="controller_manager" exec="ros2_control_node">
		<param from="$(find-pkg-share robot_bringup)/config/skyentific_robot_controllers.yaml" />
	</node>
	<node pkg="controller_manager" exec="spawner" args="joint_state_broadcaster" />
	<node pkg="controller_manager" exec="spawner" args="arm_controller" />
	<node pkg="controller_manager" exec="spawner" args="gripper_controller" />
	<include file="$(find-pkg-share robot_moveit_config)/launch/move_group.launch.py" />
	<node pkg="rviz2" exec="rviz2" output="screen" args="-d $(var rviz_config_path)" />
</launch>
