git_ws/robot_sim/launch/display.launch

<?xml version="1.0"?>
<launch>
    <arg name="model" />
    <arg name="gui" default="True" />
    <param name="robot_description" textfile="$(arg model)" />
    <param name="use_gui" value="$(arg gui)"/>
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find robot_sim)/urdf.rviz" />
</launch>