data/launch/arm.launch

<?xml version="1.0" encoding="UTF-8"?>

<launch>

  <arg name="arm"/>
  <arg name="generation"/>
  <arg name="simulated"
       default="True"/>

  <!-- dVRK system -->
  <node name="dvrk_$(arg arm)_node"
        if="$(arg simulated)"
        pkg="dvrk_robot"
        type="dvrk_system"
        args="-j $(find dvrk_config)/system/system-$(arg arm)_$(arg generation)_KIN_SIMULATED.json"
        output="screen"/>

  <!-- state publishers -->
  <include file="$(find dvrk_model)/launch/arm_state_publishers.launch">
    <arg name="arm"
         value="$(arg arm)"/>
    <arg name="generation"
         value="$(arg generation)"/>
  </include>

  <!-- rviz -->
  <node name="rviz_$(arg arm)"
        pkg="rviz"
        type="rviz"
        args="-d $(find dvrk_model)/rviz/$(arg generation)/$(arg arm).rviz"/>

</launch>