indigo中用roslaunch启动RViz观察机器人模型

1. roslaunch sp1s display.launch model:=urdf/sp1s.urdf 指令来自于网页：

http://blog.csdn.net/crazyquhezheng/article/details/42840955

这句话是启动sp1s包下的urdf文件，roslaunch文件夹下的display.launch和urdf文件,urdf文件的几何长度是米为单位：

<launch>
    <arg name="model" />
    <arg name="gui" default="False" />
    <param name="robot_description" textfile="$(arg model)" />
    <param name="use_gui" value="$(arg gui)"/>
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.rviz" required="true" />
launch>

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roslaunch sp1s display.launch model:='$(find sp1s)/urdf/sp1s.urdf'记得用这个命令来打开，只限于indigo的ROS 版本