<launch>
    <arg name="model" default="$(find turtlebot_description)/urdf/turtlebot.urdf.xacro"/>
    <param name="robot_description" command="$(find xacro)/xacro $(arg model)"/>
    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"/>
    <node pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" name="joint_state_publisher_gui"/>
    <node pkg="rviz" type="rviz" name="rviz" args="-d $(find turtlebot_description)/rviz/display.rviz"/>
</launch>
