text: import os
  from launch import LaunchDescription
  from launch.actions import DeclareLaunchArgument
  from launch.substitutions import LaunchConfiguration, Command
  from launch_ros.actions import Node
  from ament_index_python.packages import get_package_share_directory
  from launch.substitutions import PathJoinSubstitution
  
  def generate_launch_description():
      return LaunchDescription([
          DeclareLaunchArgument("robot_name", default_value="robot.urdf.xacro"),
  
          Node(
              package='robot_state_publisher',
              executable='robot_state_publisher',
              name='robot_state_publisher',
              output='screen',
              parameters=[{
                  'robot_description':
                      Command([
                          'xacro',
                          ' ',
                          PathJoinSubstitution(
                              [get_package_share_directory('abb_gofa_description'),
                              'urdf',
                              LaunchConfiguration('robot_name')]
                          )
                      ]),
              }]
          ),
  
          Node(
              package='joint_state_publisher_gui',
              executable='joint_state_publisher_gui',
              name='joint_state_publisher',
              output='screen'
          )
  
      ])