Launch file that I use for testing & tweaking URDFs, Meshes, and Xacros for baxter

bringup_test_robot.launch

<?xml version="1.0" ?>
<launch>
 <!-- Load the URDF into the ROS Parameter Server -->
 <!-- param name="robot_description" command="cat '$(find baxter_description)/urdf/baxter.urdf'" / -->
 <!-- param name="robot_base_description" command="cat '/data/users/imcmahon/dev/mrsp_ws/baxter_urdf.xml'" / -->
 <param name="robot_description"
     command="$(find xacro)/xacro.py --inorder $(find baxter_description)/urdf/baxter.urdf.xacro" />
<!-- param name="use_sim_time" type="bool" value="true"/-->

 <!-- node pkg="rosbag" type="play" name="player" output="screen" args="-i-clock -l /data/users/imcmahon/dev/mrsp_ws/joint_states_increasing_2015-06-12-14-39-06.bag"/ -->
 <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen" args="joint_states:=/robot/joint_states _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 0 world base" />

 <node name="robot_state_publisher" type="robot_state_publisher" pkg="robot_state_publisher" output="screen" args="joint_states:=/robot/joint_states _set_robot_description:=true  _tf_prefix:= "/>

 <node name="rviz" pkg="rviz" type="rviz" output="screen" args=" -d /data/users/imcmahon/dev/mrsp_ws/mutable_rviz.rviz"/>

</launch>