<launch>
  <include
    file="$(find gazebo_worlds)/launch/empty_world.launch" />
  <node
    name="tf_footprint_base"
    pkg="tf"
    type="static_transform_publisher"
    args="0 0 0 0 0 0 base_link base_footprint 40" />
  <node
    name="spawn_model"
    pkg="gazebo"
    type="spawn_model"
    args="-file $(find Kraken)/robots/Kraken.URDF-urdf -model Kraken"
    output="screen" />
  <include
    file="$(find pr2_controller_manager)/controller_manager.launch" />
  <node
    name="fake_joint_calibration"
    pkg="rostopic"
    type="rostopic"
    args="pub /calibrated std_msgs/Bool true" />
</launch>