<?xml version="1.0"?>
<launch>
  <rosparam command="load" file="$(find md_controller)/motorInfomation.yaml"/> 
  <arg name="node_name"     default="md_controller"/>
  <arg name="product"         default=""/>
  <arg name="port_name"       default=""/>
  <arg name="baudrate"        default="19200"/>
  <node pkg="md_controller" type="md_controller_node" name="$(arg node_name)" output="screen">
    <param name="product" type="str" value="$(arg product)"/> 
    <param name="port_name" type="str" value="$(arg port_name)"/> 
    <param name="baudrate" type="int" value="$(arg baudrate)"/>
  </node>
</launch>