urdf_display.launch

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<launch>
    <arg name="model" default="robot" />
    <arg name="gui" default="true" />
    <arg name="rvizconfig" default="$(find urdf_tutorial)/rviz/urdf.rviz" />
    <arg name="number" default="0"/>

    <!-- SPAWN ROBOT -->
    <param name="robot_description" command="$(find xacro)/xacro '$(find ril_agv_simulator)/urdf/$(arg model).xacro' number:=$(arg number)"/>    
    <param name="use_gui" value="$(arg gui)"/>
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
</launch>