| <!-- | |
| Useful for debugging or just viewing the kobuki model/urdf/transform. | |
| --> | |
| <launch> | |
| <arg name="urdf_file" default="$(find xacro)/xacro --inorder '$(find kobuki_description)/urdf/kobuki_standalone.urdf.xacro'"/> | |
| <param name="robot_description" command="$(arg urdf_file)"/> | |
| <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen"> | |
| <param name="publish_frequency" type="double" value="5.0"/> | |
| </node> | |
| <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"> | |
| <param name="use_gui" value="true"/> | |
| </node> | |
| <node name="rviz" pkg="rviz" type="rviz" args="-d $(find kobuki_description)/rviz/model.rviz"/> | |
| </launch> | |