<?xml version="1.0"?>

<launch>

<param name="robot_description"

command="$(find xacro)/xacro.py '$(find guardian_description)/urdf/v7/gball.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="state_publisher"/>

<!-- Show in Rviz -->

<node name="rviz" pkg="rviz" type="rviz"/> <!-- args="-d $(find rrbot_description)/launch/rrbot.rviz"/ -->

</launch>