From fa92449a2ea958e24b17d26923c74aa3a9392eef Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Wed, 17 Oct 2018 13:02:50 +0200
Subject: [PATCH] Added a new launch file:

description.launch: loads the robot_description parameter and launches the robot_state_publisher node.
---
 launch/description.launch | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)
 create mode 100644 launch/description.launch

diff --git a/launch/description.launch b/launch/description.launch
new file mode 100644
index 0000000..f026cf7
--- /dev/null
+++ b/launch/description.launch
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+  <arg name="node_name" default="ana"/>
+  <arg name="model" default="ana"/>
+
+  <param name="robot_description"
+         command="$(find xacro)/xacro --inorder '$(find iri_ana_description)/urdf/$(arg model).xacro' name:=$(arg node_name)" />
+
+  <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>
+
+</launch>
+
-- 
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