add arguments to launch file templates (moveit#1397)

* add arguments to launch file templates

If one has an installed moveit_config package, there should be enough
arguments, to use move_group.launch. Otherwise every user of the robot
would have to fork the robot package.

This commit adds some options that allow an application package to build
onto a robot's moveit_config:

* load_robot_description - if set to false, one can load a modified
  robot model that contains e.g. additional fixed objects
* pipeline - allows to choose between different planning pipelines
  (minimal version of moveit#1025)
* rviz config_file - path to config file is way more flexible than
  defaulting to an empty setting. Especially since the
  `save config as default` option was dropped in RViz.

* rename argument to rviz_config

* add rviz_config argument to MIGRATION.md

* Update MIGRATION.md

Co-Authored-By: jschleicher <j.schleicher@pilz.de>

moveit_setup_assistant/templates/moveit_config_pkg_template/launch/demo.launch

@@ -1,5 +1,8 @@
 <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 -->
@@ -41,11 +44,12 @@
     <arg name="fake_execution" value="true"/>
     <arg name="info" value="true"/>
     <arg name="debug" value="$(arg debug)"/>
+    <arg name="pipeline" value="$(arg pipeline)"/>
   </include>
 
   <!-- Run Rviz and load the default config to see the state of the move_group node -->
   <include file="$(find [GENERATED_PACKAGE_NAME])/launch/moveit_rviz.launch">
-    <arg name="config" value="true"/>
+    <arg name="rviz_config" value="$(find [GENERATED_PACKAGE_NAME])/launch/moveit.rviz"/>
     <arg name="debug" value="$(arg debug)"/>
   </include>
 

moveit_setup_assistant/templates/moveit_config_pkg_template/launch/move_group.launch

@@ -1,7 +1,5 @@
 <launch>
 
-  <include file="$(find [GENERATED_PACKAGE_NAME])/launch/planning_context.launch" />
-
   <!-- GDB Debug Option -->
   <arg name="debug" default="false" />
   <arg unless="$(arg debug)" name="launch_prefix" value="" />
@@ -14,6 +12,7 @@
   <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="fake_execution" default="false"/>
   <arg name="max_safe_path_cost" default="1"/>
@@ -38,9 +37,15 @@
                 " />
   -->
 
+  <arg name="load_robot_description" default="true" />
+  <!-- load URDF, SRDF and joint_limits configuration -->
+  <include file="$(find [GENERATED_PACKAGE_NAME])/launch/planning_context.launch">
+    <arg name="load_robot_description" value="$(arg load_robot_description)" />
+  </include>
+
   <!-- Planning Functionality -->
   <include ns="move_group" file="$(find [GENERATED_PACKAGE_NAME])/launch/planning_pipeline.launch.xml">
-    <arg name="pipeline" value="ompl" />
+    <arg name="pipeline" value="$(arg pipeline)" />
   </include>
 
   <!-- Trajectory Execution Functionality -->

moveit_setup_assistant/templates/moveit_config_pkg_template/launch/moveit_rviz.launch

@@ -4,9 +4,9 @@
   <arg unless="$(arg debug)" name="launch_prefix" value="" />
   <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
 
-  <arg name="config" default="false" />
-  <arg unless="$(arg config)" name="command_args" value="" />
-  <arg     if="$(arg config)" name="command_args" value="-d $(find [GENERATED_PACKAGE_NAME])/launch/moveit.rviz" />
+  <arg name="rviz_config" default="" />
+  <arg     if="$(eval rviz_config=='')" name="command_args" value="" />
+  <arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />
 
   <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
 	args="$(arg command_args)" output="screen">