12 lines
564 B
XML
12 lines
564 B
XML
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<launch>
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<let name="urdf_path" value="$(find-pkg-share my_robot1_description)/urdf/my_robot1.urdf.xacro"/>
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<let name="rviz_config_path" value="$(find-pkg-share my_robot1_description)/rviz/urdf_config.rviz"/>
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<node pkg="robot_state_publisher" exec="robot_state_publisher">
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<param name="robot_description" value="$(command 'xacro $(var urdf_path)')"/>
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</node>
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<node pkg="joint_state_publisher_gui" exec="joint_state_publisher_gui" />
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<node pkg="rviz2" exec="rviz2" output="screen" args="-d $(var rviz_config_path)" />
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</launch>
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