URDF tutorial help

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I'm trying to learn ROS and URDF.

I am looking into this tutorial but I am immediately lost at the second step where I am supposed to execute the launch file.

In other words, I'm supposed to execute :

> $ roslaunch urdf_tutorial display.launch model:=urdf/01-myfirst.urdf

But the tutorial does not indicate what display.launch is nor what it contains. I executed catkin_create_pkg my_robot and my code looks like the following:

my_robot
├── CMakeLists.txt
├── package.xml
└── urdf
    └── 01-myfirst.urdf