<launch>
 
    <!-- Set the robot description -->
    <param name="robot_description" command="$(find xacro)/xacro $(find cps_rmp220_support)/description/robot.urdf.xacro" />

    <!-- Start the robot state publisher node -->
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>

    <!-- Start the joint state publisher node -->
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" output="screen"/>

    <!-- <node name="odom_publisher_fromTwist" pkg="cps_rmp220_support" type="odom_publisher_fromTwist.py" /> -->
</launch>
