turtlebot3_burger_d435_gazebo_only.launch

<launch>
  <!-- roslaunch turtlebot3_description turtlebot3_burger_d435_urdf_visualize.launch model:='$(find turtlebot3_description)/urdf/turtlebot3_burger_d435.urdf.xacro' -->
  <!-- arguments for the urdf xacro file, rviz visualization and namespace -->
  <arg name="model" default="$(find turtlebot3_description)/urdf/turtlebot3_burger_d435.urdf.xacro"/>
  <param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model) use_nominal_extrinsics:=true add_plug:=true" />
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="use_gui" value="TRUE"/>
  </node>

    <node pkg="robot_state_publisher" type="robot_state_publisher"  name="robot_state_publisher">
      <param name="publish_frequency" type="double" value="30.0" />
    </node>

    <!-- this will include the launch file for gazebo given the model -->
    <include file="$(find turtlebot3_description)/launch/gazebo.launch">
      <arg name="model" value="$(arg model)" />
      <arg name="x" value="0.0" />
      <arg name="y" value="0.0" />
      <arg name="z" value="0.2" />
    </include>

    <!-- this will include the launch file for gazebo given the model -->
    <arg name="gui" default="True" />
    <param name="use_gui" value="$(arg gui)" />
</launch>