Switching from Gazebo to a "real" robot

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Hey guys,

so far i have been using gazebo to simulate my algorithms (and then simulating the results in Gazebo), but now i have a real robot available and i wanted to know how i can load the urdf model (so i can see it in "rviz" and profit of the links to "tf ") without using the spawn robot launch file:

<node name="robot_spawner" pkg="gazebo_ros" type="spawn_model" args="$(optenv ROBOT_INITIAL_POSE) -unpause -urdf -param robot_description -model mobile_base"/>

of gazebo_ros (because this launch script also launches gazebo).

Any suggestion would be very appreciated

Marcus