From 545c8ec6a3a0148aeacf369b21fb080f75d03fdd Mon Sep 17 00:00:00 2001
From: wangWking <842749351@qq.com>
Date: Tue, 7 Jun 2022 13:56:56 +0800
Subject: [PATCH] update mycobot_600_slider.launch

---
 .../mycobot_600/launch/mycobot_600_slider.launch  | 15 +++++++++------
 1 file changed, 9 insertions(+), 6 deletions(-)

diff --git a/mycobot_pro/mycobot_600/launch/mycobot_600_slider.launch b/mycobot_pro/mycobot_600/launch/mycobot_600_slider.launch
index f7b6782..dc8f3d7 100644
--- a/mycobot_pro/mycobot_600/launch/mycobot_600_slider.launch
+++ b/mycobot_pro/mycobot_600/launch/mycobot_600_slider.launch
@@ -4,10 +4,13 @@
 	<arg name="rvizconfig" default="$(find mycobot_600)/config/mycobot_600.rviz" />
 	<arg name="gui" default="true" />
 	
-	<!-- Add model control,添加模型控制 -->
-    <include file="$(find mycobot_280)/launch/slider_control.launch">
-		<arg name="model" value="$(arg model)" />
-		<arg name="rvizconfig" value="$(arg rvizconfig)" />
-		<arg name="gui" value="$(arg gui)" />
-    </include>
+	
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+
+	<!-- Combinejoin values to TF -->
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+	<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
+
+	<!-- Show in Rviz -->
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
 </launch>