<?xml version="1.0"?>
<launch>
    <!-- FB-RTK Driver with visualization -->
    <include file="$(find fbrtkros)/launch/fbrtk_driver.launch" />
    
    <!-- RViz for visualization -->
    <node pkg="rviz" type="rviz" name="rviz" 
          args="-d $(find fbrtkros)/config/fbrtk_visualization.rviz" />
    
    <!-- Robot state publisher (if you have a URDF) -->
    <!-- 
    <param name="robot_description" textfile="$(find fbrtkros)/urdf/robot.urdf" />
    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
    -->

</launch>
