[MSA] Generate More New Launch Files (#1213)

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 "

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