<launch>
    <arg name="user_debug" default="false"/>
    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find b1_description)/xacro/robot.xacro'
            DEBUG:=$(arg user_debug)"/>
    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
        <param name="publish_frequency" type="double" value="1000.0"/>
    </node>
</launch>