view_model.launch

<!--
  Standalone launcher used for visualising urdf models.
  
  == Testing Model Views ==

  Test the robot descriptions via the turtlebot_viz/turtlebot_rviz_launchers
  and reconfiguring your environment variables.

  == Turtlebot 2 ==

  This is the default, so you don't need to set the variables, but for 
  purposes of illustration, it is shown below.

  > export TURTLEBOT_BASE=kobuki
  > export TURTLEBOT_STACKS=hexagons
  > export TURTLEBOT_3D_SENSOR=kinect
  > roslaunch turtlebot_rviz_launchers view_model.launch

  == Turtlebot 1 ==

  > export TURTLEBOT_BASE=create
  > export TURTLEBOT_STACKS=circles
  > export TURTLEBOT_3D_SENSOR=kinect
  > roslaunch turtlebot_rviz_launchers view_model.launch

  == Switch 3d Sensor ==

  Switch the 3d sensor from the kinect to the asus xtion pro:

  > export TURTLEBOT_3D_SENSOR=asus_xtion_pro
  > roslaunch turtlebot_rviz_launchers view_model.launch
 -->

<launch>
  <arg name="base"       value="$(optenv TURTLEBOT_BASE kobuki)"/>  <!-- create, rhoomba -->
  <arg name="stacks"     value="$(optenv TURTLEBOT_STACKS hexagons)"/>  <!-- circles, hexagons -->
  <arg name="3d_sensor"  value="$(optenv TURTLEBOT_3D_SENSOR kinect)"/>  <!-- kinect, asus_xtion_pro -->
  
  <include file="$(find turtlebot_bringup)/launch/includes/_robot.launch">
    <arg name="base" value="$(arg base)" />
    <arg name="stacks" value="$(arg stacks)" />
    <arg name="3d_sensor" value="$(arg 3d_sensor)" />
  </include>
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="use_gui" value="true"/>
  </node>
  
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find turtlebot_rviz_launchers)/rviz/model.rviz" />
</launch>