<launch>
  <master auto="start"/>
  
  <!-- RViz and TF tree -->
  <arg name="model" default="$(find wpb_home_bringup)/urdf/wpb_home_mani.urdf"/>
  <arg name="gui" default="true" />
  <arg name="rvizconfig" default="$(find wpb_home_tutorials)/rviz/nav.rviz" />

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

</launch>