text: import os
  
  from ament_index_python.packages import get_package_share_directory
  from launch import LaunchDescription
  from launch.substitutions import LaunchConfiguration
  from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
  from launch.launch_description_sources import PythonLaunchDescriptionSource
  from launch_ros.actions import Node
  
  
  def generate_launch_description():
  
      mir_description_dir = get_package_share_directory('mir_description')
      rviz_config_file = os.path.join(mir_description_dir, 'rviz', 'mir_description.rviz')
  
      return LaunchDescription([
  
        DeclareLaunchArgument(
          'joint_state_publisher_enabled',
          default_value='true',
          description='Enable to publish joint states using joint state publisher'),
  
        IncludeLaunchDescription(
          PythonLaunchDescriptionSource(
            os.path.join(mir_description_dir, 'launch', 'mir_launch.py')),
          launch_arguments={
            'joint_state_publisher_enabled': LaunchConfiguration('joint_state_publisher_enabled'),
          }.items()
        ),
  
        Node(
          package='rviz2',
          executable='rviz2',
          arguments=['-d', rviz_config_file]),
  
      ])
  