kobuki.launch.xml

<launch>
  <arg name="base"/>
  <arg name="stacks"/>
  <arg name="3d_sensor"/>
  <arg name="robot_name"/>
  <arg name="x" default="0"/>
  <arg name="y" default="0"/>
  <arg name="z" default="0"/>
  <arg name="urdf_file" default="$(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro'" />
  <param name="robot_description" command="$(arg urdf_file)" />
  
  <!-- Gazebo model spawner -->
  <node name="spawn_turtlebot_model" pkg="gazebo_ros" type="spawn_model"
        args="-urdf -param robot_description -model $(arg robot_name)
              -x $(arg x) -y $(arg y) -z $(arg z)"/>
  <!-- Velocity muxer -->
  <node pkg="nodelet" type="nodelet" name="mobile_base_nodelet_manager" args="manager"/>
  <node pkg="nodelet" type="nodelet" name="cmd_vel_mux"
        args="load yocs_cmd_vel_mux/CmdVelMuxNodelet mobile_base_nodelet_manager">
    <param name="yaml_cfg_file" value="$(find turtlebot_bringup)/param/mux.yaml" />
    <remap from="cmd_vel_mux/output" to="$(arg robot_name)/commands/velocity"/>
  </node>
 <node pkg="robot_state_publisher" type="state_publisher" 
          name="robot_state_publisher" output="screen"/>
  <!-- Bumper/cliff to pointcloud (not working, as it needs sensors/core messages) -->
  <include file="$(find turtlebot_bringup)/launch/includes/kobuki/bumper2pc.launch.xml"/>
</launch>