Vehicle-cpp/Nav/autoware_src/autoware/visualization/vehicle_description/launch/estima_black.launch

<!-- -->
<launch>
  <arg name="base_frame" default="/base_link"/>
  <arg name="topic_name" default="vehicle_model"/>
  <arg name="offset_x" default="1.2"/>
  <arg name="offset_y" default="0.0"/>
  <arg name="offset_z" default="0.0"/>
  <arg name="offset_roll" default="0.0"/> <!-- degree -->
  <arg name="offset_pitch" default="0.0"/> <!-- degree -->
  <arg name="offset_yaw" default="0.0"/> <!-- degree -->
  <arg name="model_path" default="$(find vehicle_description)/urdf/estima_black.urdf" />
  <arg name="gui" default="False" />

  <param name="robot_description" textfile="$(arg model_path)" />
  <param name="use_gui" value="$(arg gui)"/>
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />

</launch>