Load all joints with controller_manager
Following Gazebo tutorial about controlling joints from ROS, I realized that the joints are mentioned explicitely like in this example:
<launch>
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find rrbot_control)/config/rrbot_control.yaml" command="load"/>
<!-- load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" ns="/rrbot" args="joint1_position_controller joint2_position_controller joint_state_controller"/>
<!-- convert joint states to TF transforms for rviz, etc -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
respawn="false" output="screen">
<remap from="/joint_states" to="/rrbot/joint_states" />
</node>
</launch>
where joint1_position_controller, joint2_position_controller and joint_state_controller are the loaded controllers. I have around 50 joints to control and I don't want to put them manually in my launch file. How to tell the controller_manager to load all the controllers existing in the rrbot_control.yaml?