<launch>
  <!-- These are the arguments you can pass this launch file, for example paused:=true -->
  <arg name="use_robot_name" default="open_manipulator"
       doc="Must match the robotNamespace tag in the gazebo description file"/>
   <arg name="use_robot_name_2" default="open_manipulator_2"
       doc="Must match the robotNamespace tag in the gazebo description file"/>
  <arg name="paused" default="false"/>
  <arg name="use_sim_time" default="true"/>
  <arg name="gui" default="true"/>
  <arg name="headless" default="false"/>
  <arg name="debug" default="false"/>

  <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="world_name" value="$(find open_manipulator_gazebo)/worlds/empty.world"/>
    <arg name="debug" value="$(arg debug)" />
    <arg name="gui" value="$(arg gui)" />
    <arg name="paused" value="$(arg paused)"/>
    <arg name="use_sim_time" value="$(arg use_sim_time)"/>
    <arg name="headless" value="$(arg headless)"/>
  </include>



  <!-- Load the URDF into the ROS Parameter Server -->
  <param name="robot_description"
   command="$(find xacro)/xacro --inorder '$(find open_manipulator_description)/urdf/open_manipulator.urdf.xacro'"/>


<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
  <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
     args="-urdf -model open_manipulator -z 0.0 -param robot_description"/>


<!-- Load the URDF into the ROS Parameter Server -->
  <param name="robot_description_2"
   command="$(find xacro)/xacro --inorder '$(find open_manipulator_description)/urdf/open_manipulator.urdf.xacro'"/>


<!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
  <node name="urdf_spawner_2" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
     args="-urdf -model open_manipulator_2 -y 1.0 -param robot_description_2"/>

 <!-- ros_control robotis manipulator launch file -->
   <include file="$(find open_manipulator_gazebo)/launch/open_manipulator_controller.launch">
      <arg name="use_robot_name" value="$(arg use_robot_name)"/>
      <arg name="use_robot_name_2" value="$(arg use_robot_name_2)"/>
    </include>


</launch>