bringup_new_robot.launch

<?xml version="1.0" ?>
<launch>
 <!-- Load the URDF into the ROS Parameter Server -->
 <param name="robot_description" command="cat '$(find your_robot_description)urdf/your.urdf'" />

 <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen" args="_use_gui:=true"/>

 <!-- Publish a static transform between the world and the base of the robot -->
 <node pkg="tf2_ros" type="static_transform_publisher" name="base_to_world" args="0 0 0 0 0 0 1 world base" />

 <node name="robot_state_publisher" type="robot_state_publisher" pkg="robot_state_publisher" output="screen"/>

 <node name="rviz" pkg="rviz" type="rviz" output="screen"/>

</launch>