[MSA] Launch Updates (#1247)

moveit_setup_assistant/moveit_setup_app_plugins/templates/launch/generic.launch.py.template

@@ -3,5 +3,5 @@ from moveit_configs_utils.launches import [FUNCTION_NAME]
 
 
 def generate_launch_description():
-    moveit_config = MoveItConfigsBuilder("[GENERATED_PACKAGE_NAME]").to_moveit_configs()
+    moveit_config = MoveItConfigsBuilder("[ROBOT_NAME]", package_name="[GENERATED_PACKAGE_NAME]").to_moveit_configs()
     return [FUNCTION_NAME](moveit_config)

moveit_setup_assistant/moveit_setup_assistant/launch/setup_assistant.launch.py

@@ -0,0 +1,18 @@
+from launch import LaunchDescription
+from moveit_configs_utils.launch_utils import (
+    add_debuggable_node,
+    DeclareBooleanLaunchArg,
+)
+
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    ld.add_action(DeclareBooleanLaunchArg("debug", default_value=False))
+    add_debuggable_node(
+        ld,
+        package="moveit_setup_assistant",
+        executable="moveit_setup_assistant",
+    )
+
+    return ld