data/launch/arm_state_publishers.launch

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

<launch>

  <arg name="arm"/>
  <arg name="generation"/>
  <arg name="urdf_file"
       default="$(arg arm)"/>

  <arg name="suj"
       default="False"/>

  <arg name="_urdf"
       default="$(find dvrk_model)/urdf/$(arg generation)/$(arg urdf_file).urdf.xacro"/>

  <group ns="$(arg arm)">
    <arg name="rate"
         default="20"/>
    <group if="$(eval suj)">
      <param name="robot_description"
             command="rosrun xacro xacro $(arg _urdf) arm:=$(arg arm) parent_link_:=$(arg arm)_mounting_point"/>
    </group>
    <group unless="$(eval suj)">
      <param name="robot_description"
             command="rosrun xacro xacro $(arg _urdf) arm:=$(arg arm)"/>
    </group>
    <param name="rate"
           value="$(arg rate)"/>

    <rosparam param="source_list" subst_value="True">
      [/$(arg arm)/measured_js,
      /$(arg arm)/jaw/measured_js,
      /$(arg arm)/gripper/measured_js]
    </rosparam>

    <node name="joint_state_publisher"
          pkg="joint_state_publisher"
          type="joint_state_publisher"/>

    <node name="robot_state_publisher"
          pkg="robot_state_publisher"
          type="robot_state_publisher"/>
  </group>

</launch>