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20 lines
517 B
20 lines
517 B
<launch>
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<arg
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name="model" />
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<param
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name="robot_description"
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textfile="$(find h1_description)/urdf/h1_with_hand.urdf" />
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<node
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name="joint_state_publisher_gui"
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pkg="joint_state_publisher_gui"
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type="joint_state_publisher_gui" />
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<node
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name="robot_state_publisher"
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pkg="robot_state_publisher"
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type="robot_state_publisher" />
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<node
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name="rviz"
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pkg="rviz"
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type="rviz"
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args="-d $(find h1_description)/launch/check_joint.rviz" />
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</launch>
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