add the Rviz part

harvest_arm_rm/launch/rm_rviz.launch.py

@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+import os
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+
+
+def generate_launch_description():
+    package_share_dir = get_package_share_directory("harvest_arm_rm")
+
+    config_file = os.path.join(
+        package_share_dir,
+        "config",
+        "config.yaml"
+    )
+
+    urdf_file = os.path.join(
+        package_share_dir,
+        "urdf",
+        "urdf_rm75",
+        "RM75.urdf"
+    )
+    print(f"Loading URDF file from: {urdf_file}")
+    with open(urdf_file, "r") as f:
+        robot_description = f.read()
+
+    rviz_bridge_node = Node(
+        package="harvest_arm_rm",
+        executable="realman_rviz",
+        name="realman_rviz_node",
+        output="screen",
+        parameters=[config_file],
+    )
+
+    robot_state_publisher_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        name="robot_state_publisher",
+        output="screen",
+        parameters=[
+            {
+                "robot_description": robot_description,
+            }
+        ],
+    )
+
+    rviz_node = Node(
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        output="screen",
+    )
+
+    return LaunchDescription([
+        robot_state_publisher_node,
+        rviz_bridge_node,
+        rviz_node,
+    ])