<launch>
    <let name="urdf_path"
        value="$(find-pkg-share robot_description)/urdf/skyentific_robot.urdf.xacro"
    />

    <let name="rviz_config_path"
        value="$(find-pkg-share robot_description)/rviz/urdf_config.rviz"
    />

    <node pkg="robot_state_publisher"
        exec="robot_state_publisher"
    >
        <param name="robot_description"
        value="$(command 'xacro $(var urdf_path)')"/>
    </node>

    <node pkg="joint_state_publisher_gui"
        exec="joint_state_publisher_gui"
    />

    <node pkg="rviz2"
        exec="rviz2"
        output="screen"
        args="-d $(var rviz_config_path)"
    />
</launch>
