robot.launch.xml

<!--
  Spawns Kobuki inside a Gazebo simulation
  -->
<launch>
  <arg name="robot_name" value="mobile_base"/>
  <param name="robot_description"
        command="$(find xacro)/xacro.py '$(find kobuki_description)/urdf/kobuki_standalone.urdf.xacro'"/>
  <node pkg="gazebo_ros" type="spawn_model" name="spawn_$(arg robot_name)" 
        args="-x 0.0 -y 0.0 -z 1.5 -unpause -urdf -param robot_description -model $(arg robot_name)" respawn="false">
  </node>
  
  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
    <param name="publish_frequency" type="double" value="30.0" />
  </node>
  
  <node pkg="nodelet" type="nodelet" name="$(arg robot_name)_nodelet_manager" args="manager"/>
</launch>