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<launch>
<!-- gazebo -->
<include file="$(find simple_arm_2)/launch/gazebo.launch"/>
<!-- rviz -->
<arg name="model" default="$(find simple_arm_2)/urdf/simple_arm.urdf" />
<arg name="gui" default="True"/>
<param name="robot_description" textfile="$(arg model)"/>
<param name="use_gui" value="$(arg gui)"/>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find simple_arm_2)/launch/urdf.rviz"/>
<!-- control node python script -->
<node name="joint_control" pkg="simple_arm_2" type="joint_control.py" />
</launch>