data/launch/dvrk_arm_snake_rviz.launch

<launch>

  <arg name="arm" />
  <arg name="config" />
  <arg name="generation" default="Classic"/>

  <arg name="model" default="$(find dvrk_model)/urdf/$(arg generation)/$(arg arm)_Snake.urdf.xacro" />

  <node name="dvrk_$(arg arm)_node"
        pkg="dvrk_robot"
        type="dvrk_console_json"
        args="-j $(arg config)"
        output="screen"/>

  <group ns="/dvrk/$(arg arm)">
    <arg name="gui" default="false" />
    <arg name="rate" default="20" />

    <param name="robot_description" command="rosrun xacro xacro $(arg model) prefix:=$(arg arm)_"/>
    <param name="use_gui" value="$(arg gui)"/>
    <param name="rate" value="$(arg rate)"/>

    <rosparam param="source_list" subst_value="True">
      [/dvrk/$(arg arm)/state_joint_current]
    </rosparam>

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

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

</launch>