Add launch file for Demo with Gazebo + Moveit

fanuc_lrmate200id_moveit_config/launch/gazebo_demo.launch

@@ -0,0 +1,40 @@
+<launch>
+
+  <!-- By default, we do not start a database (it can be large) -->
+  <arg name="db" default="true" />
+  <!-- Allow user to specify database location -->
+  <arg name="db_path" default="$(find fanuc_lrmate200id_moveit_config)/default_warehouse_mongo_db" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!-- Launch Gazebo -->
+  <arg name="gazebo" default="false" />
+  <include file="$(find fanuc_lrmate200id_gazebo)/launch/gazebo_lrmate200id.launch" if="$(arg gazebo)" />
+
+  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
+  <include file="$(find fanuc_lrmate200id_moveit_config)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="false"/>
+  </include>
+
+  <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
+  <include file="$(find fanuc_lrmate200id_moveit_config)/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="false"/>
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- Run Rviz and load the default config to see the state of the move_group node -->
+  <arg name="rviz" default="true" />
+  <include file="$(find fanuc_lrmate200id_moveit_config)/launch/moveit_rviz.launch">
+    <arg name="config" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- If database loading was enabled, start mongodb as well -->
+  <include file="$(find fanuc_lrmate200id_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
+    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  </include>
+
+</launch>

fanuc_lrmate200id_moveit_config/package.xml

@@ -29,6 +29,7 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
+  <exec_depend>fanuc_lrmate200id_gazebo</exec_depend>
   <exec_depend>fanuc_lrmate200id_moveit_plugins</exec_depend>
   <exec_depend>fanuc_lrmate200id_support</exec_depend>
   <exec_depend>industrial_robot_simulator</exec_depend>