how change turtlebot bring minimal.launch to use

edit

I want you to read this contents as a reference. This might be good answer. I wrote following sentences in minimal.launch

  < arg name="base"       default="$(optenv TURTLEBOT_BASE kobuki)"/ >
  < arg name="battery"    default="$(optenv TURTLEBOT_BATTERY /sys/class/power_supply/BAT0)"/ >
  < arg name="stacks"     default="$(optenv TURTLEBOT_STACKS hexagons)"/ >
  < arg name="3d_sensor"  default="$(optenv TURTLEBOT_3D_SENSOR kinect)"/ >
  < arg name="sensor"          default="$(optenv TURTLEBOT_SENSOR hokuyo)"/ > 
  < arg name="simulation" default="$(optenv TURTLEBOT_SIMULATION false)"/ >
  < arg name="tf_prefix" default="" / >

  < param name="/use_sim_time" value="$(arg simulation)"/ >

  < include file="$(find turtlebot_bringup)/launch/includes/robot.launch.xml >
    < arg name="base" value="$(arg base)" / >
    < arg name="stacks" value="$(arg stacks)" / >
    < arg name="3d_sensor" value="$(arg 3d_sensor)" / >
    < arg name="sensor" value="$(arg sensor)" / >
  < /include >

In turtlebot_bringup/launch/includes/robot.launch.xml, I added two sentences to robot.launch.xml

< launch >
  < arg name="sensor"/ >

< include file="$(find turtlebot_bringup)/launch/includes/description_kobuki.launch.xml" >

  < arg name="sensor" value="$(arg sensor)" / > 
< /include >

In kobuki_description.launch,

< launch >
  < arg name="base"/>
  < arg name="stacks"/>
  < arg name="3d_sensor"/>
  < arg name="sensor"/>

  < arg name="urdf_file" default="$(find xacro)/xacro.py '$(find turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor)_$(arg sensor).urdf.xacro'" />
  < param name="robot_description" command="$(arg urdf_file)" / >
< /launch>

In kobuki_hexagons_kinect_hokuyo.urdf.xacro,

< robot name="turtlebot" xmlns:xacro="http://ros.org/wiki/xacro">

  < xacro:include filename="$(find turtlebot_description)/urdf/turtlebot2_library.urdf.xacro" />

  < kobuki/>
  < stack_hexagons parent="base_link"/>
  < sensor_kinect  parent="plate_top_link"/>
  < sensor_hokuyo parent="plate_middle_link">
</robot >

After that, I just write *.urdf.xacro.