I cant find the launch file to comment out the jointstatepublisher as mentioned in this link http://forums.trossenrobotics.com/showthread.php?4482-URDF-Robot-State-Publisher-and-the-ArbotiX If i didnt comment out the jointstatepublisher,its creating conflct with the arbotix controller and is causing the arm to shake back and forth between two positions(given by arm controller and the jointstatepublisher).

Please help....