<?xml version="1.0"?>
<launch>
  <param name="robot_description" command="$(find xacro)/xacro.py '$(find humanoid_robot_intelligence_control_system_description)/urdf/humanoid_robot_intelligence_control_system.urdf.xacro'" />

  <!-- Send fake joint values and monitoring present joint angle -->
  <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
    <param name="use_gui" value="TRUE" />
    <rosparam param="/source_list">[/humanoid_robot_intelligence_control_system/present_joint_states]</rosparam>
  </node>

  <!-- Combine joint values -->
  <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
    <remap from="/joint_states" to="/humanoid_robot_intelligence_control_system/present_joint_states" />
  </node>

  <!-- Show in Rviz   -->
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find humanoid_robot_intelligence_control_system_bringup)/rviz/humanoid_robot_intelligence_control_system_bringup.rviz" />
</launch>
