# 5.1.3.1. op3\_bringup\_visualization.launch

```
<?xml version="1.0" ?>
<launch>
  <param name="robot_description" command="$(find xacro)/xacro.py '$(find op3_description)/urdf/robotis_op3.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">[/robotis/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="/robotis/present_joint_states" />
  </node>

  <!-- Show in Rviz   -->
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find op3_bringup)/rviz/op3_bringup.rviz"/>
</launch>
```

* parameter&#x20;
  * robot\_description : 在 RViz 中用於 TF 及可視化的機器人模型
* joint\_state\_publisher : ROBOTIS-OP3 關節值的可視化&#x20;
* robot\_state\_publisher : 為機器人模型產生 TF 消息&#x20;
* rviz : 可視化工具