quadruped_ros2_control/descriptions/unitree/b2_description/launch/visualize.launch.py

import os

from ament_index_python.packages import get_package_share_directory

from launch import LaunchDescription
from launch_ros.actions import Node

import xacro

package_description = "b2_description"

def process_xacro():
    pkg_path = os.path.join(get_package_share_directory(package_description))
    xacro_file = os.path.join(pkg_path, 'xacro', 'robot.xacro')
    robot_description_config = xacro.process_file(xacro_file)
    return robot_description_config.toxml()
def generate_launch_description():

    rviz_config_file = os.path.join(get_package_share_directory(package_description), "config", "visualize_urdf.rviz")
    robot_description = process_xacro()

    return LaunchDescription([
        Node(
            package='rviz2',
            executable='rviz2',
            name='rviz_ocs2',
            output='screen',
            arguments=["-d", rviz_config_file]
        ),
        Node(
            package='robot_state_publisher',
            executable='robot_state_publisher',
            name='robot_state_publisher',
            output='screen',
            parameters=[
                {
                    'publish_frequency': 100.0,
                    'use_tf_static': True,
                    'robot_description': robot_description
                }
            ],
        ),
        Node(
            package='joint_state_publisher_gui',
            executable='joint_state_publisher_gui',
            name='joint_state_publisher',
            output='screen',
        )
    ])