<launch>
    <!-- Arguments -->

    <arg name="model" default="$(find agv_description)/urdf/agv.urdf.xacro"/>
    <arg name="rviz_file" default="dis_map.rviz"/>
    <arg name="display" default="$(find agv_description)/rviz/$(arg rviz_file).urdf.xacro" />

    <param name="robot_description" command="$(find xacro)/xacro '$(arg model)'" />

    <!-- Rviz -->
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find agv_description)/rviz/$(arg display).rviz"/>
    
</launch>