Update launch files

launch/description.launch

 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
 
-  <arg name="node_name" default="ana"/>
-  <arg name="model" default="ana"/>
+  <arg name="ns"            default="ana"/>
+  <arg name="model"         default="ana"/>
+  <arg name="static_wheels" default="false" />
 
-  <param name="robot_description"
-         command="$(find xacro)/xacro --inorder '$(find iri_ana_description)/urdf/$(arg model).xacro' name:=$(arg node_name)" />
+  <group ns="$(arg ns)">
+    
+    <param name="robot_description"
+         command="$(find xacro)/xacro --inorder '$(find iri_ana_description)/urdf/$(arg model).xacro' name:=$(arg ns)" />
 
-  <node pkg="robot_state_publisher" type="state_publisher" name="$(arg node_name)_state_publisher">
-    <param name="tf_prefix" type="string" value="/$(arg node_name)"/>
-    <param name="publish_frequency" type="double" value="20.0"/>
-  </node>
+    <node pkg="robot_state_publisher" type="state_publisher" name="state_publisher">
+      <param name="tf_prefix" type="string" value="/$(arg ns)"/>
+      <param name="publish_frequency" type="double" value="20.0"/>
+    </node>
 
-</launch>
+    <!--
+    <node pkg="joint_state_publisher"
+          type="joint_state_publisher"
+          name="joint_state_publisher">
+      <param name="use_gui"           value="true"/>
+      <remap from="$(arg ns)/joint_states" to="$(arg ns)/joint_states/"/>
+      <remap from="$(arg ns)/robot_description" to="$(arg ns)/robot_description/"/>
+    </node>
+    -->
 
+  </group>
+  
+  <group if="$(arg static_wheels)">
+    <include file="$(find iri_pioneer3_description)/launch/wheel_static_transform.launch">
+      <arg name="ns" value="$(arg ns)"/>
+    </include>
+  </group>
+
+</launch>
\ No newline at end of file

urdf/ana.xacro

@@ -4,8 +4,8 @@
 
   <xacro:arg name="name" default="ana"/>
 
-  <xacro:include filename="$(find iri_pioneer3_description)/urdf/pioneer3.xacro" />
-  <xacro:include filename="$(find iri_ana_description)/urdf/sensors.xacro" />
+  <xacro:include filename="$(find iri_pioneer3_description)/urdf/include/pioneer3.xacro" />
+  <xacro:include filename="$(find iri_ana_description)/urdf/include/sensors.xacro" />
 
   <xacro:pioneer3 name="$(arg name)" resolution="low_res" sim_config="$(find iri_ana_gazebo)/config/ana_sim_config.yaml">
   </xacro:pioneer3>