rb1_torso_rviz.launch

<?xml version="1.0"?>
<launch>

  <arg name="urdf_file" default="$(find xacro)/xacro.py '$(find rb1_torso_description)/robots/rb1_torso_standalone.urdf.xacro'" />
  <param name="robot_description" command="$(arg urdf_file)" />

  <!-- send fake joint values -->
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="use_gui" value="TRUE"/>
  </node>

  <!-- Combine joint values -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>

  <!-- Show in Rviz   -->
  <node name="rviz" pkg="rviz" type="rviz"/> 
  
</launch>