conveyor.launch

<launch>
    <!-- Launch Gazebo -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="paused" value="false"/>
        <arg name="use_sim_time" value="true"/>
        <arg name="gui" value="true"/>
    </include>

    <!-- Load the URDF -->
    <param name="robot_description" 
           command="$(find xacro)/xacro '$(find conveyor_sim)/urdf/conveyor.urdf.xacro'" />
    
    <!-- Load controller configurations -->
    <rosparam file="$(find conveyor_sim)/config/conveyor_controllers.yaml" command="load"/>

    <!-- Start the controllers -->
    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
          output="screen" ns="/conveyor"
          args="joint_state_controller
                moving_cube_position_controller"/>

    <!-- Convert joint states to TF transforms -->
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
          respawn="false" output="screen">
        <remap from="/joint_states" to="/conveyor/joint_states"/>
    </node>

    <!-- Spawn the conveyor system in Gazebo -->
    <node name="spawn_urdf" 
          pkg="gazebo_ros" 
          type="spawn_model" 
          args="-urdf -param robot_description -model conveyor" 
          output="screen" />
</launch>