From de4b9798194ffcf18af05c21d72921b7cc15964b Mon Sep 17 00:00:00 2001
From: "David V. Lu!!" <davidvlu@gmail.com>
Date: Tue, 10 May 2022 08:04:32 -0400
Subject: [PATCH] [MSA] Generate More New Launch Files (#1213)

---
 .../moveit_setup_app_plugins/src/launches.cpp |  13 +++
 .../src/srdf_config.cpp                       |  10 --
 .../launch/chomp_planning_pipeline.launch.xml |  23 ----
 .../templates/launch/demo.launch              |  68 ------------
 .../templates/launch/move_group.launch        | 101 ------------------
 .../launch/ompl_planning_pipeline.launch.xml  |  26 -----
 ...otion_planner_planning_pipeline.launch.xml |  15 ---
 .../templates/launch/planning_context.launch  |  26 -----
 .../launch/planning_pipeline.launch.xml       |  10 --
 .../templates/launch/ros_controllers.launch   |  11 --
 .../launch/trajectory_execution.launch.xml    |  23 ----
 .../trajopt_planning_pipeline.launch.xml      |  29 -----
 12 files changed, 13 insertions(+), 342 deletions(-)
 delete mode 100644 moveit_setup_assistant/old_assistant/templates/launch/chomp_planning_pipeline.launch.xml
 delete mode 100644 moveit_setup_assistant/old_assistant/templates/launch/demo.launch
 delete mode 100644 moveit_setup_assistant/old_assistant/templates/launch/move_group.launch
 delete mode 100644 moveit_setup_assistant/old_assistant/templates/launch/ompl_planning_pipeline.launch.xml
 delete mode 100644 moveit_setup_assistant/old_assistant/templates/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
 delete mode 100644 moveit_setup_assistant/old_assistant/templates/launch/planning_context.launch
 delete mode 100644 moveit_setup_assistant/old_assistant/templates/launch/planning_pipeline.launch.xml
 delete mode 100644 moveit_setup_assistant/old_assistant/templates/launch/ros_controllers.launch
 delete mode 100644 moveit_setup_assistant/old_assistant/templates/launch/trajectory_execution.launch.xml
 delete mode 100644 moveit_setup_assistant/old_assistant/templates/launch/trajopt_planning_pipeline.launch.xml

diff --git a/moveit_setup_assistant/moveit_setup_app_plugins/src/launches.cpp b/moveit_setup_assistant/moveit_setup_app_plugins/src/launches.cpp
index f3d5a3f2a0..38a19183a6 100644
--- a/moveit_setup_assistant/moveit_setup_app_plugins/src/launches.cpp
+++ b/moveit_setup_assistant/moveit_setup_app_plugins/src/launches.cpp
@@ -53,6 +53,19 @@ void Launches::onInit()
                    "moveit_rviz", { "rviz2", "rviz_common", "rviz_default_plugins", "moveit_ros_visualization" }));
   available_launch_bundles_.back().addFile(
       "config/moveit.rviz", "Configuration file for Rviz with the Motion Planning Plugin already setup.");
+  available_launch_bundles_.push_back(LaunchBundle(
+      "MoveGroup Launch", "Launch file to run the main MoveIt executable that provides the MoveGroup action",
+      "move_group", { "moveit_ros_move_group" }));
+  available_launch_bundles_.push_back(LaunchBundle("Static TF Launch",
+                                                   "Launch file to broadcast static TF for the robot's virtual joints.",
+                                                   "static_virtual_joint_tfs", { "tf2_ros" }));
+  available_launch_bundles_.push_back(LaunchBundle("Spawn Controllers Launch",
+                                                   "Launch file to spawn the necessary controllers",
+                                                   "spawn_controllers", { "controller_manager" }));
+  available_launch_bundles_.push_back(LaunchBundle("Demo Launch",
+                                                   "Launch file to run a demo of MoveGroup. Warning that it requires "
+                                                   "the above launch files to all be generated as well.",
+                                                   "demo"));
 
   available_launch_bundles_.push_back(LaunchBundle("Setup Assistant Launch",
                                                    "Launch file for easily re-starting the MoveIt "
diff --git a/moveit_setup_assistant/moveit_setup_framework/src/srdf_config.cpp b/moveit_setup_assistant/moveit_setup_framework/src/srdf_config.cpp
index 14d585413d..670cf763da 100644
--- a/moveit_setup_assistant/moveit_setup_framework/src/srdf_config.cpp
+++ b/moveit_setup_assistant/moveit_setup_framework/src/srdf_config.cpp
@@ -198,16 +198,6 @@ void SRDFConfig::collectVariables(std::vector<TemplateVariable>& variables)
   variables.push_back(TemplateVariable("ROBOT_NAME", srdf_.robot_name_));
   variables.push_back(TemplateVariable("ROBOT_ROOT_LINK", robot_model_->getRootLinkName()));
   variables.push_back(TemplateVariable("PLANNING_FRAME", robot_model_->getModelFrame()));
-
-  std::stringstream vjb;
-  unsigned int counter = 0;
-  for (const auto& vj : srdf_.virtual_joints_)
-  {
-    vjb << "  <node pkg=\"tf2_ros\" type=\"static_transform_publisher\" name=\"virtual_joint_broadcaster_" << counter
-        << "\" args=\"0 0 0 0 0 0 " << vj.parent_frame_ << " " << vj.child_link_ << "\" />" << std::endl;
-    counter++;
-  }
-  variables.push_back(TemplateVariable("VIRTUAL_JOINT_BROADCASTER", vjb.str()));
 }
 
 }  // namespace moveit_setup_framework
diff --git a/moveit_setup_assistant/old_assistant/templates/launch/chomp_planning_pipeline.launch.xml b/moveit_setup_assistant/old_assistant/templates/launch/chomp_planning_pipeline.launch.xml
deleted file mode 100644
index 3b47012050..0000000000
--- a/moveit_setup_assistant/old_assistant/templates/launch/chomp_planning_pipeline.launch.xml
+++ /dev/null
@@ -1,23 +0,0 @@
-<launch>
-  <arg name="start_state_max_bounds_error" default="0.1" />
-  <arg name="jiggle_fraction" default="0.05" />
-  <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
-  <arg name="planning_adapters"
-       default="default_planner_request_adapters/AddTimeParameterization
-                default_planner_request_adapters/ResolveConstraintFrames
-                default_planner_request_adapters/FixWorkspaceBounds
-                default_planner_request_adapters/FixStartStateBounds
-                default_planner_request_adapters/FixStartStateCollision
-                default_planner_request_adapters/FixStartStatePathConstraints"
-                />
-
-  <param name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
-  <param name="request_adapters" value="$(arg planning_adapters)" />
-  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
-  <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
-
-  <!-- Add MoveGroup capabilities specific to this pipeline -->
-  <!-- <param name="capabilities" value="" /> -->
-
-  <rosparam command="load" file="$(find [GENERATED_PACKAGE_NAME])/config/chomp_planning.yaml" />
-</launch>
diff --git a/moveit_setup_assistant/old_assistant/templates/launch/demo.launch b/moveit_setup_assistant/old_assistant/templates/launch/demo.launch
deleted file mode 100644
index 837ffb93f7..0000000000
--- a/moveit_setup_assistant/old_assistant/templates/launch/demo.launch
+++ /dev/null
@@ -1,68 +0,0 @@
-<launch>
-
-  <!-- specify the planning pipeline -->
-  <arg name="pipeline" default="ompl" />
-
-  <!-- By default, we do not start a database (it can be large) -->
-  <arg name="db" default="false" />
-  <!-- Allow user to specify database location -->
-  <arg name="db_path" default="$(find [GENERATED_PACKAGE_NAME])/default_warehouse_mongo_db" />
-
-  <!-- By default, we are not in debug mode -->
-  <arg name="debug" default="false" />
-
-  <!-- By default, we will load or override the robot_description -->
-  <arg name="load_robot_description" default="true"/>
-
-  <!-- Choose controller manager: fake, simple, or ros_control -->
-  <arg name="moveit_controller_manager" default="fake" />
-  <!-- Set execution mode for fake execution controllers -->
-  <arg name="fake_execution_type" default="interpolate" />
-
-  <!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
-  <arg name="use_gui" default="false" />
-  <arg name="use_rviz" default="true" />
-
-  <!-- If needed, broadcast static tf for robot root -->
-[VIRTUAL_JOINT_BROADCASTER]
-
-
-  <group if="$(eval arg('moveit_controller_manager') == 'fake')">
-    <!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
-         MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
-    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
-      <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-    </node>
-    <!-- If desired, a GUI version is available allowing to move the simulated robot around manually
-         This corresponds to moving around the real robot without the use of MoveIt. -->
-    <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
-      <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-    </node>
-
-    <!-- Given the published joint states, publish tf for the robot links -->
-    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
-  </group>
-
-  <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
-  <include file="$(dirname)/move_group.launch">
-    <arg name="allow_trajectory_execution" value="true"/>
-    <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
-    <arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
-    <arg name="info" value="true"/>
-    <arg name="debug" value="$(arg debug)"/>
-    <arg name="pipeline" value="$(arg pipeline)"/>
-    <arg name="load_robot_description" value="$(arg load_robot_description)"/>
-  </include>
-
-  <!-- Run Rviz and load the default config to see the state of the move_group node -->
-  <include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
-    <arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
-    <arg name="debug" value="$(arg debug)"/>
-  </include>
-
-  <!-- If database loading was enabled, start mongodb as well -->
-  <include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
-    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-  </include>
-
-</launch>
diff --git a/moveit_setup_assistant/old_assistant/templates/launch/move_group.launch b/moveit_setup_assistant/old_assistant/templates/launch/move_group.launch
deleted file mode 100644
index 3e27d9b9e9..0000000000
--- a/moveit_setup_assistant/old_assistant/templates/launch/move_group.launch
+++ /dev/null
@@ -1,101 +0,0 @@
-<launch>
-
-  <!-- GDB Debug Option -->
-  <arg name="debug" default="false" />
-  <arg unless="$(arg debug)" name="launch_prefix" value="" />
-  <arg     if="$(arg debug)" name="launch_prefix"
-           value="gdb -x $(dirname)/gdb_settings.gdb --ex run --args" />
-
-  <!-- Verbose Mode Option -->
-  <arg name="info" default="$(arg debug)" />
-  <arg unless="$(arg info)" name="command_args" value="" />
-  <arg     if="$(arg info)" name="command_args" value="--debug" />
-
-  <!-- move_group settings -->
-  <arg name="pipeline" default="ompl" />
-  <arg name="allow_trajectory_execution" default="true"/>
-  <arg name="moveit_controller_manager" default="simple" />
-  <arg name="fake_execution_type" default="interpolate"/>
-  <arg name="max_safe_path_cost" default="1"/>
-  <arg name="publish_monitored_planning_scene" default="true"/>
-
-  <arg name="capabilities" default=""/>
-  <arg name="disable_capabilities" default=""/>
-  <!-- load these non-default MoveGroup capabilities (space separated) -->
-  <!--
-  <arg name="capabilities" value="
-                a_package/AwsomeMotionPlanningCapability
-                another_package/GraspPlanningPipeline
-                " />
-  -->
-
-  <!-- inhibit these default MoveGroup capabilities (space separated) -->
-  <!--
-  <arg name="disable_capabilities" value="
-                move_group/MoveGroupKinematicsService
-                move_group/ClearOctomapService
-                " />
-  -->
-
-  <arg name="load_robot_description" default="false" />
-  <!-- load URDF, SRDF and joint_limits configuration -->
-  <include file="$(dirname)/planning_context.launch">
-    <arg name="load_robot_description" value="$(arg load_robot_description)" />
-  </include>
-
-  <!-- Planning Pipelines -->
-  <group ns="move_group/planning_pipelines">
-
-    <!-- OMPL -->
-    <include file="$(dirname)/planning_pipeline.launch.xml">
-      <arg name="pipeline" value="ompl" />
-    </include>
-
-    <!-- CHOMP -->
-    <include file="$(dirname)/planning_pipeline.launch.xml">
-      <arg name="pipeline" value="chomp" />
-    </include>
-
-    <!-- Pilz Industrial Motion -->
-    <include file="$(dirname)/planning_pipeline.launch.xml">
-      <arg name="pipeline" value="pilz_industrial_motion_planner" />
-    </include>
-
-    <!-- Support custom planning pipeline -->
-    <include if="$(eval arg('pipeline') not in ['ompl', 'chomp', 'pilz_industrial_motion_planner'])"
-             file="$(dirname)/planning_pipeline.launch.xml">
-      <arg name="pipeline" value="$(arg pipeline)" />
-    </include>
-  </group>
-
-  <!-- Trajectory Execution Functionality -->
-  <include ns="move_group" file="$(dirname)/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
-    <arg name="moveit_manage_controllers" value="true" />
-    <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
-    <arg name="fake_execution_type" value="$(arg fake_execution_type)" />
-  </include>
-
-  <!-- Sensors Functionality -->
-  <include ns="move_group" file="$(dirname)/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
-    <arg name="moveit_sensor_manager" value="[ROBOT_NAME]" />
-  </include>
-
-  <!-- Start the actual move_group node/action server -->
-  <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
-    <!-- Set the display variable, in case OpenGL code is used internally -->
-    <env name="DISPLAY" value="$(optenv DISPLAY :0)" />
-
-    <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
-    <param name="sense_for_plan/max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
-    <param name="default_planning_pipeline" value="$(arg pipeline)" />
-    <param name="capabilities" value="$(arg capabilities)" />
-    <param name="disable_capabilities" value="$(arg disable_capabilities)" />
-
-    <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
-    <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
-    <param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
-    <param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
-    <param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
-  </node>
-
-</launch>
diff --git a/moveit_setup_assistant/old_assistant/templates/launch/ompl_planning_pipeline.launch.xml b/moveit_setup_assistant/old_assistant/templates/launch/ompl_planning_pipeline.launch.xml
deleted file mode 100644
index afbdf88d25..0000000000
--- a/moveit_setup_assistant/old_assistant/templates/launch/ompl_planning_pipeline.launch.xml
+++ /dev/null
@@ -1,26 +0,0 @@
-<launch>
-
-  <!-- The request adapters (plugins) used when planning with OMPL. ORDER MATTERS! -->
-  <arg name="planning_adapters"
-       default="default_planner_request_adapters/AddTimeParameterization
-                default_planner_request_adapters/ResolveConstraintFrames
-                default_planner_request_adapters/FixWorkspaceBounds
-                default_planner_request_adapters/FixStartStateBounds
-                default_planner_request_adapters/FixStartStateCollision
-                default_planner_request_adapters/FixStartStatePathConstraints"
-                />
-
-  <arg name="start_state_max_bounds_error" default="0.1" />
-  <arg name="jiggle_fraction" default="0.05" />
-
-  <param name="planning_plugin" value="ompl_interface/OMPLPlanner" />
-  <param name="request_adapters" value="$(arg planning_adapters)" />
-  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
-  <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
-
-  <!-- Add MoveGroup capabilities specific to this pipeline -->
-  <!-- <param name="capabilities" value="" /> -->
-
-  <rosparam command="load" file="$(find [GENERATED_PACKAGE_NAME])/config/ompl_planning.yaml"/>
-
-</launch>
diff --git a/moveit_setup_assistant/old_assistant/templates/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml b/moveit_setup_assistant/old_assistant/templates/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
deleted file mode 100644
index c7c4cf5005..0000000000
--- a/moveit_setup_assistant/old_assistant/templates/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
+++ /dev/null
@@ -1,15 +0,0 @@
-<launch>
-
-  <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
-  <arg name="planning_adapters" default="" />
-
-  <param name="planning_plugin" value="pilz_industrial_motion_planner::CommandPlanner" />
-  <param name="request_adapters" value="$(arg planning_adapters)" />
-
-  <!-- Define default planner (for all groups) -->
-  <param name="default_planner_config" value="PTP" />
-
-  <!-- MoveGroup capabilities to load for this pipeline, append sequence capability -->
-  <param name="capabilities" value="pilz_industrial_motion_planner/MoveGroupSequenceAction
-                                    pilz_industrial_motion_planner/MoveGroupSequenceService" />
-</launch>
diff --git a/moveit_setup_assistant/old_assistant/templates/launch/planning_context.launch b/moveit_setup_assistant/old_assistant/templates/launch/planning_context.launch
deleted file mode 100644
index 635179b3b8..0000000000
--- a/moveit_setup_assistant/old_assistant/templates/launch/planning_context.launch
+++ /dev/null
@@ -1,26 +0,0 @@
-<launch>
-  <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
-  <arg name="load_robot_description" default="false"/>
-
-  <!-- The name of the parameter under which the URDF is loaded -->
-  <arg name="robot_description" default="robot_description"/>
-
-  <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" [URDF_LOAD_ATTRIBUTE]/>
-
-  <!-- The semantic description that corresponds to the URDF -->
-  <param name="$(arg robot_description)_semantic" textfile="$(find [GENERATED_PACKAGE_NAME])/config/[ROBOT_NAME].srdf" />
-
-  <!-- Load updated joint limits (override information from URDF) -->
-  <group ns="$(arg robot_description)_planning">
-    <rosparam command="load" file="$(find [GENERATED_PACKAGE_NAME])/config/joint_limits.yaml"/>
-    <rosparam command="load" file="$(find [GENERATED_PACKAGE_NAME])/config/cartesian_limits.yaml"/>
-  </group>
-
-  <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
-  <group ns="$(arg robot_description)_kinematics">
-    <rosparam command="load" file="$(find [GENERATED_PACKAGE_NAME])/config/kinematics.yaml"/>
-[KINEMATICS_PARAMETERS_FILE_NAMES_BLOCK]
-  </group>
-
-</launch>
diff --git a/moveit_setup_assistant/old_assistant/templates/launch/planning_pipeline.launch.xml b/moveit_setup_assistant/old_assistant/templates/launch/planning_pipeline.launch.xml
deleted file mode 100644
index 4b4d0d663a..0000000000
--- a/moveit_setup_assistant/old_assistant/templates/launch/planning_pipeline.launch.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<launch>
-
-  <!-- This file makes it easy to include different planning pipelines;
-       It is assumed that all planning pipelines are named XXX_planning_pipeline.launch  -->
-
-  <arg name="pipeline" default="ompl" />
-
-  <include ns="$(arg pipeline)" file="$(dirname)/$(arg pipeline)_planning_pipeline.launch.xml" />
-
-</launch>
diff --git a/moveit_setup_assistant/old_assistant/templates/launch/ros_controllers.launch b/moveit_setup_assistant/old_assistant/templates/launch/ros_controllers.launch
deleted file mode 100644
index 77e6addd7e..0000000000
--- a/moveit_setup_assistant/old_assistant/templates/launch/ros_controllers.launch
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-  <!-- Load joint controller configurations from YAML file to parameter server -->
-  <rosparam file="$(find [GENERATED_PACKAGE_NAME])/config/ros_controllers.yaml" command="load"/>
-
-  <!-- Load the controllers -->
-  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
-    output="screen" args="[ROS_CONTROLLERS]"/>
-
-</launch>
diff --git a/moveit_setup_assistant/old_assistant/templates/launch/trajectory_execution.launch.xml b/moveit_setup_assistant/old_assistant/templates/launch/trajectory_execution.launch.xml
deleted file mode 100644
index 20c3dfc459..0000000000
--- a/moveit_setup_assistant/old_assistant/templates/launch/trajectory_execution.launch.xml
+++ /dev/null
@@ -1,23 +0,0 @@
-<launch>
-  <!-- This file summarizes all settings required for trajectory execution  -->
-
-  <!-- Define moveit controller manager plugin: fake, simple, or ros_control -->
-  <arg name="moveit_controller_manager" />
-  <arg name="fake_execution_type" default="interpolate" />
-
-  <!-- Flag indicating whether MoveIt is allowed to load/unload  or switch controllers -->
-  <arg name="moveit_manage_controllers" default="true"/>
-  <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
-
-  <!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
-  <param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
-  <!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
-  <param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
-  <!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
-  <param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
-
-  <!-- We use pass_all_args=true here to pass fake_execution_type, which is required by fake controllers, but not by real-robot controllers.
-       As real-robot controller_manager.launch files shouldn't be required to define this argument, we use the trick of passing all args. -->
-  <include file="$(dirname)/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" pass_all_args="true" />
-
-</launch>
diff --git a/moveit_setup_assistant/old_assistant/templates/launch/trajopt_planning_pipeline.launch.xml b/moveit_setup_assistant/old_assistant/templates/launch/trajopt_planning_pipeline.launch.xml
deleted file mode 100644
index 0df0ff6f2b..0000000000
--- a/moveit_setup_assistant/old_assistant/templates/launch/trajopt_planning_pipeline.launch.xml
+++ /dev/null
@@ -1,29 +0,0 @@
-<launch>
-
-  <!-- define capabilities that are loaded on start (space separated) -->
-  <arg name="capabilities" default=""/>
-
-  <!-- inhibit capabilities (space separated) -->
-  <arg name="disable_capabilities" default=""/>
-
-  <!-- The request adapters (plugins) used when planning with TrajOpt. ORDER MATTERS! -->
-  <arg name="planning_adapters"
-       default="default_planner_request_adapters/AddTimeParameterization
-                default_planner_request_adapters/FixWorkspaceBounds
-                default_planner_request_adapters/FixStartStateBounds
-                default_planner_request_adapters/FixStartStateCollision
-                default_planner_request_adapters/FixStartStatePathConstraints" />
-
-  <arg name="start_state_max_bounds_error" default="0.1" />
-  <arg name="jiggle_fraction" value="0.05" />
-
-  <param name="planning_plugin" value="trajopt_interface/TrajOptPlanner" />
-  <param name="request_adapters" value="$(arg planning_adapters)" />
-  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
-  <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
-  <param name="capabilities" value="$(arg capabilities)" />
-  <param name="disable_capabilities" value="$(arg disable_capabilities)" />
-
-  <rosparam command="load" file="$(find [GENERATED_PACKAGE_NAME])/config/trajopt_planning.yaml"/>
-
-</launch>