create_description.launch

<?xml version="1.0"?>
<launch>
  <arg name="robot_id"  default="$(optenv ID 1)"      doc="Unique identifier of the robot [1-Inf.)"/>
  <arg name="ns"        value="create$(arg robot_id)" doc="Namespace of the robot. By default: create1"/>
  <arg name="tf_prefix" value="$(arg ns)_tf"          doc="Tf prefix"/>

  <arg name="model" value="$(find ca_description)/urdf/create_2.xacro" doc="Path to Xacro description of the robot"/>

  <arg name="visualize" default="$(optenv VISUALIZE false)" doc="Flag to visualize rays in Gazebo"/>
  <arg name="use_gpu"   default="$(optenv GPU false)"       doc="Use GPU for laser processing"/>

  <!-- Stacks:
    * turtlebot
    * roomblock
   -->
  <arg name="stack" value="$(optenv STACK turtlebot)" doc="Stack used by the robot. Options are: turtlebot or roomblock"/>
  <!-- Lasers:
    * astra
    * kinect
    * r200
    * rplidar
    * xtion_pro
   -->
  <arg name="laser" default="$(optenv LASER rplidar)" doc="Laser for mapping the environment"/>

  <arg name="freq" value="40" doc="Broadcasting frequency of robot_description parameter"/>

  <!-- Robot description -->
  <arg name="xacro_args" value="visualize:=$(arg visualize)
                                robot_name:=$(arg ns)
                                stack:=$(arg stack)
                                laser:=$(arg laser)
                                use_gpu:=$(arg use_gpu)"/>
  <!-- TODO (@eborghi10): Use only 1 robot_description for multiple robots -->
  <param name="robot_description" command="$(find xacro)/xacro $(arg model) $(arg xacro_args)"/>
  <!-- Robot state publisher-->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen">
    <param name="publish_frequency" type="double" value="$(arg freq)" />
    <param name="tf_prefix" value="$(arg tf_prefix)" />
  </node>
  <!-- Static transform for bumper_link to base_link -->
  <node pkg="tf" type="static_transform_publisher" name="bumper_static_tf"
        args="0 0 0 0 0 0 $(arg tf_prefix)/base_link $(arg tf_prefix)/bumper_link $(arg freq)"/>
</launch>