mallet_servo_control_debug_dummy.launch

<!-- A debug launch file for isolated testing of the dummy servo -->
<launch>
    <!-- Using a group to prevent collisions -->
    <group ns="MalletHolder">
        <!-- Loading the controllers and joint limits from the config files -->
        <rosparam file="$(find marimbabot_hardware)/config/controllers.yaml" command="load"/>
        <rosparam file="$(find marimbabot_hardware)/config/joint_limits.yaml" command="load"/>
        
        <!-- ! This is only for demo setups START -->
        <!-- Uses a dummy URDF to make the mallet_finger joint known to the system -->
        <!-- <param name="robot_description" command="cat $(find marimbabot_hardware)/urdf/two_mallet_holder.urdf"/>
        <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/> -->
        <!-- ! This is only for demo setups END -->

        <!-- Starting the hardware control node -->
        <node name="mallet_hardware_control_node" pkg="marimbabot_hardware" type="mallet_hardware_control_node_dummy" output="screen" />
        
        <!-- Spawning the controllers according to the config -->
        <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"
            args="
                joint_state_controller
                trajectory_controller
            "/> 
            <!-- Use this for easy debugging -->
            <!-- position_controller -->
    </group>

</launch>