Added a launch for the whole simulated environment.

launch/adc_sim_env.launch

+<?xml version="1.0"?>
+<!-- -->
+<launch>
+
+  <arg name="output"                      default="screen"/>
+  <arg name="launch_prefix"               default=""/>
+
+  <arg name="gazebo_gui"                  default="True"/>
+  <arg name="car_x"                       default="0.0"/>
+  <arg name="car_y"                       default="0.0"/>
+  <arg name="car_yaw"                     default="0.0"/>
+  
+  <arg name="road_name"                   default="road"/>
+  <arg name="road_size"                   default="15.0"/>
+  <arg name="road_path"                   default="$(env HOME)/Downloads"/>
+  <arg name="road_x"                      default="0.0"/>
+  <arg name="road_y"                      default="0.0"/>
+  <arg name="road_yaw"                    default="0.0"/>
+
+  <include file="$(find iri_model_car_gazebo)/launch/sim.launch">
+    <arg name="name"                       value="adc_car"/>
+    <arg name="output"                     value="$(arg output)"/>
+    <arg name="launch_prefix"              value="$(arg launch_prefix)"/>
+    <arg name="world"                      value="empty"/>
+    <arg name="gazebo_gui"                 value="$(arg gazebo_gui)"/>
+    <arg name="car_x"                      value="$(arg car_x)"/>
+    <arg name="car_y"                      value="$(arg car_y)"/>
+    <arg name="car_yaw"                    value="$(arg car_yaw)"/>
+    <arg name="sim_config_path"            value="$(find iri_adc_launch)/config/adc_car"/>
+    <arg name="car_controller_config_file" value="$(find iri_adc_launch)/config/adc_car_controller_config.yaml"/>
+    <arg name="control_config_file"        value="$(find iri_adc_launch)/config/adc_car_control_params.yaml"/>
+    <arg name="odometry_config_file"       value="$(find iri_adc_launch)/config/adc_car_odometry_params.yaml"/>
+    <arg name="cmd_vel_mux_config_file"    value="$(find iri_adc_launch)/config/adc_car_mux.yaml"/>
+    <arg name="standalone"                 value="True"/>
+  </include>
+
+  <include file="$(find iri_adc_launch)/launch/sample_signals.launch">
+  </include>
+
+  <include file="$(find iri_adc_launch)/launch/sample_objects.launch">
+  </include>
+
+  <include file="$(find iri_road_description)/launch/spawn_road.launch">
+    <arg name="road_name"  default="$(arg road_name)"/>
+    <arg name="road_size"  default="$(arg road_size)"/>
+    <arg name="road_path"  default="$(arg road_path)"/>
+    <arg name="x"          default="$(arg road_x)"/>
+    <arg name="y"          default="$(arg road_y)"/>
+    <arg name="yaw"        default="$(arg road_yaw)"/>
+    <arg name="parent"     default="map"/>
+  </include>
+
+  <node name="rviz"
+        pkg="rviz"
+        type="rviz"
+        args="-d $(find iri_adc_launch)/rviz/sim_env.rviz">
+  </node>
+
+</launch>