<launch>
	<arg name="model" />
	<param name="robot_description" command="$(find xacro)/xacro.py $(find line_follower_description)/urdf/line_follower.xacro" />
	<param name="use_gui" value="true"/>
	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find line_follower_description)/urdf.rviz" required="true" />
    

    <rosparam file="$(find line_follower_description)/config/line_follower_config.yaml" command="load"/> 
    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" ns="/line_follower" args="joint_state_controller rightWheel_effort_controller  leftWheel_effort_controller"/>
</launch>
