<launch>

  <arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home.urdf"/>
  <arg name="gui" default="true" />
  <arg name="rvizconfig" default="$(find wpb_home_bringup)/rviz/sensor.rviz" />

  <param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
  <param name="use_gui" value="$(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="state_publisher" />
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />

  <!--- Run Rplidar -->
  <node name="rplidarNode"          pkg="rplidar_ros"  type="rplidarNode" output="screen">
    <param name="serial_port"         type="string" value="/dev/rplidar"/>  
    <param name="serial_baudrate"     type="int"    value="115200"/>
    <param name="frame_id"            type="string" value="laser"/>
    <param name="inverted"            type="bool"   value="false"/>
    <param name="angle_compensate"    type="bool"   value="true"/>
  </node>

</launch>
