| <launch> | |
| <param name="robot_description" command="$(find xacro)/xacro.py '$(find turtlebot_description)/robots/turtlebot.urdf.xacro'" /> | |
| <param name="use_gui" value="True"/> | |
| <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> | |
| <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher" output="screen"> | |
| <param name="publish_frequency" type="double" value="30.0" /> | |
| <!--param name="tf_prefix" type="string" value="" /--> | |
| </node> | |
| </launch> |