<launch>

 <!--Simple launch file starts a robot visualization of the current hardware state
    as reported by the actual robot via the robot state node
    
    parameters:
        robot_ip - ip address of robot state server
        urdf_path - urdf path and filename relative to current directory
            (including the extension)

	usage robot_state_visualize.launch robot_ip:=<value> urdf_path:=<value>
	    
	example:
	robot_state_visualize.launch robot_ip:=192.168.1.10 urdf_path:= urdf/M16iB20.urdf
 -->

	<arg name="robot_ip" doc="IP of the controller" />
	<arg name="urdf_path" doc="Path to the robot description file" />
	
	<!-- Populate parameters -->
	<param name="robot_description" textfile="$(arg urdf_path)" />
	<param name="robot_ip_address" type="str" value="$(arg robot_ip)"/>

    <!-- Required nodes -->
	<node name="state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
	<node name="robot_state" pkg="industrial_robot_client" type="robot_state"/>

	<!-- catkin_lint: ignore_once launch_depend -->
	<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz"/>
</launch>
