description.launch 635 Bytes
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<launch>
  <arg name="robot_namespace" default="aquanaute"/>

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  <param name="robot_description" command="cat $(find aquanaute_description)/urdf/aquanaute.urdf"/>

  <!-- send fake joint values -->
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="joint_state_publisher_gui" value="false"/>
  </node>

  <!-- Combine joint values -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>

  <!-- Show in Rviz   -->
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find aquanaute_description)/rviz/aquanaute.rviz"/>
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</launch>