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First of all, your launch file is not valid XML (around &gt;<="" node="">). Second, you can improve readability by indenting every line by four spaces (this will display your launch file as a code block; you can also edit your question to that effect).

Now to answer your question: If I understand you correctly, you want to write some code that moves the robot head in RViz, instead of using the joint_state_publisher GUI. That's actually very easy; all you have to do is write a node that publishes JointState messages. This tutorial will show you how.