simple_head.launch

<launch>

    <!-- Start the Dynamixel Controller -->
    <node name="dynamixel_manager" pkg="dynamixel_controllers" type="controller_manager.py" required="true" output="screen">
        <rosparam file="$(find simple_head)/config/manager.yaml" command="load" />
    </node>

    <rosparam file="$(find simple_head)/config/dof_controllers.yaml" command="load"/>

    <!-- Start Joint Position Controllers for each DoF -->
    <node name="ctrl_spawner" pkg="dynamixel_controllers" type="controller_spawner.py"
          args="--manager=dxl_manager
                --port=head_port
                 neck_pan_controller
                 neck_tilt_controller
                 head_tilt_controller
                 head_roll_controller"
          output="screen" />

    <!-- Start Meta Controllers for the whole Head -->
    <node name="meta_spawner" pkg="dynamixel_controllers" type="controller_spawner.py"
          args="--manager=dxl_manager
                --port=head_port
                --type=meta
                 head_controller
                 neck_pan_controller
                 neck_tilt_controller
                 head_tilt_controller
                 head_roll_controller"
          output="screen"/>

    <!-- Start the Pose Goer -->
    <node name="poser" pkg="simple_head" type="pose_goer.py" output="screen">
        <rosparam file="$(find simple_head)/config/poses.yaml" command="load" />
    </node>
</launch>