git_ws/gazebo_robot/launch/robot_display.rviz.launch

<launch>
  <param name="/use_sim_time" value="false" />
 
	<!-- Load the URDF/Xacro model of our robot -->
  <arg name="urdf_file" default="$(find xacro)/xacro.py '$(find gazebo_robot)/urdf/robot.urdf.xacro'" />
	<arg name="gui" default="false" />
 
	<param name="robot_description" command="$(arg urdf_file)" />
	<param name="use_gui" value="$(arg gui)"/>
 
	<node name="arbotix" pkg="arbotix_python" type="arbotix_driver" output="screen">
    <rosparam file="$(find gazebo_robot)/config/robot_arbotix.yaml" command="load" />
    <param name="sim" value="true"/>
  </node>
 
	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
	</node>
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher">
    <param name="publish_frequency" type="double" value="20.0" />
  </node>
 
	<!-- We need a static transforms for the wheels -->
  <node pkg="tf" type="static_transform_publisher" name="odom_left_wheel_broadcaster" args="0 0 0 0 0 0 /base_link /left_front_link 100" />
  <node pkg="tf" type="static_transform_publisher" name="odom_right_wheel_broadcaster" args="0 0 0 0 0 0 /base_link /right_front_link 100" />
 
	<!--<node name="rviz" pkg="rviz" type="rviz" args="-d $(find gazebo_robot)/urdf.vcg" />-->
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find gazebo_robot)/urdf/disp_robot.rviz" />