<!--
  Spawns Kobuki inside a Gazebo simulation
  -->
<launch>
  <arg name="robot_name"/>
  <arg name="init_pose"/>

  <param name="robot_description"
        command="$(find xacro)/xacro.py '$(find rrt_exploration_tutorials)/launch/includes/urdf/kobuki_standalone.urdf.xacro'"/>
  <node pkg="gazebo_ros" type="spawn_model" name="spawn_$(arg robot_name)" 
        args="$(arg init_pose) -unpause -urdf -param robot_description -model $(arg robot_name)" respawn="false">
  </node>
 
   <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
   <param name="publish_frequency" type="double" value="30.0" />
   <param name="use_tf_static" type="bool" value="false" />
   <param name="tf_prefix" type="string" value="$(arg robot_name)"/>
   </node>
</launch>
