launch/display_urdf.launch

   1 <?xml version="1.0"?>
   2 <launch>
   3
   4         <arg name="model" default="$(find wt_open_manipulator)/urdf/open_manipulator.urdf.xacro"/>
   5         <arg name="gui" default="true" />
   6
   7         <param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
   8         <param name="use_gui" value="$(arg gui)"/>
   9
  10         <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
  11                 <param name="use_gui" value="$(arg gui)"/>
  12         </node>
  13         <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
  14         <node name="rviz" pkg="rviz" type="rviz" required="true" />
  15 </launch>