Editing launch files for controlling Kuka Youbots in Gazebo simulator

edit

I've successfully downloaded the packages for youbots in a new catkin workspace I created. I was also able to get it up and running and open in gazebo but I don't know where to start with the launch files to simply control the arms or get a few commands working. For example this is what one of the launch files looks like, found at $~/youbotdir_ws/src/youbot_simulation/youbot_gazebo_control/launch$ gedit arm_controller.launch, where youbotdir_ws is the workspace I created for this project:

?xml version="1.0"?

launch

arg name="arm_name" default="arm_1"/

!-- upload arm and gripper controller parameters -- rosparam file="$(find youbot_gazebo_control)/config/$(arg arm_name)_controller.yaml" command="load" ns="$(arg arm_name)"/

!-- spawn arm controller --> <node pkg="controller_manager" type="spawner" name="$(arg arm_name)_arm_controller_spawner" args="$(arg arm_name)/arm_controller" respawn="false" output="screen" <="" p="">

!-- spawn gripper controller --> <node pkg="controller_manager" type="spawner" name="$(arg arm_name)_gripper_controller_spawner" args="$(arg arm_name)/gripper_controller" respawn="false" output="screen" <="" p="">

/launch>` <arg name="arm_name" default="arm_1" <="" p="">

!-- upload arm and gripper controller parameters -- rosparam file="$(find youbot_gazebo_control)/config/$(arg arm_name)_controller.yaml" command="load" ns="$(arg arm_name)"/

!-- spawn arm controller -- <node pkg="controller_manager" type="spawner" name="$(arg arm_name)_arm_controller_spawner" args="$(arg arm_name)/arm_controller" respawn="false" output="screen" <="" p="">

!-- spawn gripper controller -- node pkg="controller_manager" type="spawner" name="$(arg arm_name)_gripper_controller_spawner" args="$(arg arm_name)/gripper_controller" respawn="false" output="screen" /

/launch