rviz

I have the following launch file written in XML format working fine in ros1 noetic I am not able to launch it in ros2. <launch> <arg name="model" /> <param name="robot_description" textfile="$(find mobile_robot)/urdf/mobile_robot.urdf" /> <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" /> <node name="robot_state_publisher"…