2020-12-08

<launch>
	<param name="robot_description" textfile="$(find mbot_description)/urdf/mbot_base.urdf" />

	<!-- 设置GUI参数，显示关节控制插件 -->
	<param name="use_gui" value="true"/>
	
	<!-- 运行joint_state_publisher节点，发布机器人的关节状态  -->
	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
	
	<!-- 运行robot_state_publisher节点，发布tf  -->
	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
	
	<!-- 运行rviz可视化界面 -->
	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find mbot_description)/config/mbot_urdf.rviz" required="true" />
</launch>