diff --git a/robotiq_s_model_visualization/launch/robotiq_gripper_upload.launch b/robotiq_s_model_visualization/launch/robotiq_gripper_upload.launch
new file mode 100644
index 00000000..f3da25d9
--- /dev/null
+++ b/robotiq_s_model_visualization/launch/robotiq_gripper_upload.launch
@@ -0,0 +1,6 @@
+<?xml version="1.0"?>
+<launch>
+
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find robotiq_s_model_visualization)/cfg/robotiq_hand.urdf.xacro'" />
+
+</launch>