| <launch> | |
| <arg | |
| name="model" /> | |
| <param | |
| name="robot_description" | |
| textfile="$(find tracer2_description)/urdf/tracer2_description.urdf" /> | |
| <node | |
| name="joint_state_publisher_gui" | |
| pkg="joint_state_publisher_gui" | |
| type="joint_state_publisher_gui" /> | |
| <node | |
| name="robot_state_publisher" | |
| pkg="robot_state_publisher" | |
| type="robot_state_publisher" /> | |
| <node | |
| name="rviz" | |
| pkg="rviz" | |
| type="rviz" | |
| args="-d $(find tracer2_description)/urdf.rviz" /> | |
| </launch> |