<launch>
    <arg name="user_debug" default="false"/>
    <param name="robot_description" command="$(find xacro)/xacro  '$(find bz1_description)/xacro/robot.xacro'
            DEBUG:=$(arg user_debug)"/>
    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher"/>
</launch>