<launch>
  <!-- load perception -->
  <include file="$(find arm_navigation_pr2)/perception/laser-perception.launch"/>

  <!-- load planning -->
  <include file="$(find arm_navigation_pr2)/planning/chomp_planning.launch"/>

  <!-- load move_arm -->
  <include file="$(find move_arm)/launch/move_right_arm.launch"/>

  <!-- load monitor -->
  <include file="$(find move_arm)/launch/monitor_right_arm.launch"/>

  <!-- load controllers -->
  <include file="$(find arm_navigation_pr2)/control/right_arm_control.launch"/>

  <!-- load ik -->
  <include file="$(find pr2_arm_ik)/launch/pr2_ik_rarm_node.launch"/>
</launch>
