ur10_upload.launch

<?xml version="1.0"?>
<launch>
  <param name="robot_description" command="$(find xacro)/xacro.py '$(find ur_description)/urdf/ur10_robot.urdf.xacro'" />

   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />

   <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />

</launch>