<launch>

  <!-- Sot Controller configuration -->
  <rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_params_effort.yaml"/>
  <rosparam command="load" file="$(find roscontrol_sot_talos)/config/sot_talos_controller.yaml" />
  <rosparam command="load" file="$(find roscontrol_sot_talos)/config/pids.yaml" />
  
  <env name="PYTHONPATH" value="/opt/pal/dubnium/lib/python2.7/dist-packages:/opt/ros/indigo/lib/python2.7/dist-packages:/opt/openrobots/lib/python2.7/dist-packages:/opt/openrobots/lib/python2.7/site-packages" />
  <!-- Spawn walking controller -->
  <node name="sot_controller_spawner"
        pkg="controller_manager" type="spawner" output="screen"
        args="sot_controller" />

</launch>