description.launch 634 Bytes
<launch>
  <arg name="robot_namespace" default="aquanaute"/>

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

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

</launch>