<launch>
  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find pr2_description)/robots/pr2.urdf.xacro'" />
  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
  <node pkg="jsk_interactive_marker" type="semantic_robot_state_generator.py" name="semantic_robot_state_generator">
      <rosparam subst_value="true">
          root_link: base_footprint
          global_frame: odom
      </rosparam>
  </node>
  <node pkg="jsk_interactive_marker" type="sample-display-robot-state.l"
        name="sample_display_robot_state" >
      <rosparam subst_value="true">
          root_link: base_footprint
          global_frame: odom
      </rosparam>
  </node>
  <node pkg="rviz" type="rviz" name="rviz"
        args="-d $(find jsk_interactive_marker)/config/display_robot_state.rviz" />
</launch>
