Added a launch file for each of the robot types.

darwin_control/launch/darwin_cpp_control.launch

+<launch>
+
+  <arg name="config_file" default="darwin_config.xml"/>
+  <arg name="robot" default="darwin"/>
+
+  <!-- Load joint controller configurations from YAML file to parameter server -->
+  <rosparam file="$(find darwin_control)/config/$(arg robot).yaml" command="load"/>
+
+  <param name="motion_file" value="$(find darwin_controller_cpp)/config/motion_1024.bin"/>
+  <param name="config_file" value="$(find darwin_controller_cpp)/src/xml/$(arg config_file)"/>
+
+  <!-- load the controllers -->
+  <node name="controller_spawner" 
+        pkg="controller_manager" 
+        type="spawner" 
+        respawn="false"
+        output="screen"
+        ns="/darwin"  
+        args="darwin_controller_cpp joint_state_controller">
+  </node>
+</launch>
+

darwin_control/launch/darwin_sc_control.launch

+<launch>
+
+  <arg name="config_file" default="darwin_config.xml"/>
+  <arg name="robot" default="darwin"/>
+
+  <!-- Load joint controller configurations from YAML file to parameter server -->
+  <rosparam file="$(find darwin_control)/config/$(arg robot).yaml" command="load"/>
+
+  <param name="motion_file" value="$(find darwin_controller)/config/motion_1024.bin"/>
+  <param name="config_file" value="$(find darwin_controller)/src/xml/$(arg config_file)"/>
+
+  <!-- load the controllers -->
+  <node name="controller_spawner" 
+        pkg="controller_manager" 
+        type="spawner" 
+        respawn="false"
+        output="screen"
+        ns="/darwin"  
+        args="darwin_controller joint_state_controller">
+  </node>
+</launch>
+