Add OLED display support and programming to my TurtleBot3

Author: Dwilliestyle

.gitignore

@@ -60,3 +60,7 @@ build-*/
 *.gch
 /.project
 .DS_Store
+.vscode/
+log/
+build/
+install/

turtlebot3_bringup/launch/view_model.launch.py

@@ -0,0 +1,47 @@
+#!/usr/bin/env python3
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.substitutions import Command
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    
+    TURTLEBOT3_MODEL = os.environ.get('TURTLEBOT3_MODEL', 'burger')
+    
+    urdf_file = os.path.join(
+        get_package_share_directory('turtlebot3_description'),
+        'urdf',
+        f'turtlebot3_{TURTLEBOT3_MODEL}.urdf'
+    )
+    
+    rviz_config_file = os.path.join(
+        get_package_share_directory('turtlebot3_description'),
+        'rviz',
+        'model.rviz'
+    )
+    
+    return LaunchDescription([
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            output='screen',
+            parameters=[{
+                'robot_description': Command(['xacro ', urdf_file])
+            }]
+        ),
+        
+        Node(
+            package='joint_state_publisher_gui',
+            executable='joint_state_publisher_gui',
+            output='screen'
+        ),
+        
+        Node(
+            package='rviz2',
+            executable='rviz2',
+            arguments=['-d', rviz_config_file],
+            output='screen'
+        ),
+    ])