<!-- roslaunch file to start view an URDF model in rviz.
      Adapted from urdf_tutorial/display.launch -->
<launch>
	<arg name="model" />
	<arg name="gui" default="False" />
	<param name="robot_description" textfile="$(arg model)" />
	<param name="use_gui" value="$(arg gui)"/>
	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
	<node name="rviz" pkg="rviz" type="rviz" args="-f TorsoLink -d $(find urdf_tutorial)/urdf.vcg" />
</launch>
