From cef65510a7060fa007bc3a66d71f7b65eca917db Mon Sep 17 00:00:00 2001
From: "David V. Lu" <davidvlu@gmail.com>
Date: Fri, 13 May 2022 09:59:35 -0400
Subject: [PATCH 1/2] Follow up to #1244

---
 .../templates/launch/generic.launch.py.template                 | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/moveit_setup_assistant/moveit_setup_app_plugins/templates/launch/generic.launch.py.template b/moveit_setup_assistant/moveit_setup_app_plugins/templates/launch/generic.launch.py.template
index 469e1d139e..444aabdd83 100644
--- a/moveit_setup_assistant/moveit_setup_app_plugins/templates/launch/generic.launch.py.template
+++ b/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)

From 6098b363ab14b15c49e3aa052e60528865122167 Mon Sep 17 00:00:00 2001
From: "David V. Lu" <davidvlu@gmail.com>
Date: Fri, 13 May 2022 10:00:26 -0400
Subject: [PATCH 2/2] Port Launch File

---
 .../launch/setup_assistant.launch              | 14 --------------
 .../launch/setup_assistant.launch.py           | 18 ++++++++++++++++++
 2 files changed, 18 insertions(+), 14 deletions(-)
 delete mode 100644 moveit_setup_assistant/moveit_setup_assistant/launch/setup_assistant.launch
 create mode 100644 moveit_setup_assistant/moveit_setup_assistant/launch/setup_assistant.launch.py

diff --git a/moveit_setup_assistant/moveit_setup_assistant/launch/setup_assistant.launch b/moveit_setup_assistant/moveit_setup_assistant/launch/setup_assistant.launch
deleted file mode 100644
index 104dc655da..0000000000
--- a/moveit_setup_assistant/moveit_setup_assistant/launch/setup_assistant.launch
+++ /dev/null
@@ -1,14 +0,0 @@
-<!-- Launch the MoveIt Setup Assistant, or just use rosrun -->
-<launch>
-
-  <!-- Debug Info -->
-  <arg name="debug" default="false" />
-  <arg unless="$(arg debug)" name="launch_prefix" value="" />
-  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
-
-  <!-- Run -->
-  <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
-        launch-prefix="$(arg launch_prefix)"
-        output="screen"  required="true" />
-
-</launch>
diff --git a/moveit_setup_assistant/moveit_setup_assistant/launch/setup_assistant.launch.py b/moveit_setup_assistant/moveit_setup_assistant/launch/setup_assistant.launch.py
new file mode 100644
index 0000000000..e16f9dc6d6
--- /dev/null
+++ b/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