Rocket by Andy Hermawan on Unsplash
I dislike rewriting code, and so I made the new urdf_launch package to contain the two most common URDF launch files I’ve seen over and over.
- description.launch.py loads a custom URDF/Xacro and starts a
robot_state_publisher - display.launch.py does the same, PLUS launches RViz and a
joint_state_publisher
These can also be included in your own launch files by passing the proper launch arguments.
Now available in 
humble, 
iron and 
rolling.
This is being integrated into urdf_tutorial and the upcoming ROS 2 port of urdf_sim_tutorial.
Thanks to @clancette for assistance getting things merged and getting the package into the ROS GitHub organization.