data/launch/surgeon_console.launch

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

<launch>

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

  <!-- dVRK system -->
  <node name="dvrk_surgeon_console_node"
        if="$(arg simulated)"
        pkg="dvrk_robot"
        type="dvrk_system"
        args="-j $(find dvrk_config)/system/system-surgeon-console-simulated.json"
        output="screen"/>

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

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

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

</launch>