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<launch>
<!-- Upload URDF file to ros parameter server for rviz to find -->
<param name="monoped_rviz_urdf_robot_description" command="$(find xacro)/xacro --inorder '$(find xpp_hyq)/urdf/monoped.urdf'"/>
<!-- Converts Cartesian state to joint state and publish TFs to rviz -->
<node name="urdf_visualizer_hyq1" pkg="xpp_hyq" type="urdf_visualizer_hyq1" output="screen"/>
</launch>
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