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aquanaute_description/launch/description.launch 634 Bytes
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  <launch>
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    <arg name="robot_namespace" default="aquanaute"/>
  
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    <param name="robot_description" command="cat $(find aquanaute_description)/urdf/aquanaute_description.urdf.xacro"/>
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    <!-- send fake joint values -->
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
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      <param name="use_gui" value="true"/>
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    </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>