<launch>
    <arg name="visual" default="true" />

    <param name="/use_sim_time" value="true" />
    <include file="$(find gazebo_ros)/launch/empty_world.launch" />

    <arg name="model" default="$(find xpkg_urdf_echo_plus)/urdf/sim_base.xacro"/>
    <param name="robot_description" command="$(find xacro)/xacro $(arg model)" />
    <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false"
          args="-urdf -model mrobot -param robot_description" />

    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />

    <group if="$(arg visual)" >
        <node name="rviz" pkg="rviz" type="rviz" required="true" 
              args="-d $(find xpkg_urdf_echo_plus)/config/ROS1/urdf.rviz"/>
    </group>
</launch>