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The following launch file is from the urdf_tutorial pacakge

<launch>

  <arg name="model" default="$(find urdf_tutorial)/urdf/01-myfirst.urdf"/>
  <arg name="gui" default="true" />
  <arg name="rvizconfig" default="$(find urdf_tutorial)/rviz/urdf.rviz" />

  <param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
  <param name="use_gui" value="$(arg gui)"/>

  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />

</launch>

You can create your own package or download this package and use this launch file.

To use this launch file run

roslaunch urdf_tutorial display.launch model:='$(find <package-name>)/urdf/myurdf.urdf'

where <package-name> is the package that contains the URDF file and myurdf.urdf is your URDF file.