Merge branch 'main' of https://github.com/elephantrobotics/mycobot_ros into main

launch/mycobot_moveit/demo_gazebo.launch

@@ -25,19 +25,19 @@
   <arg name="urdf_path" default="$(find mycobot_ros)/urdf/mycobot/mycobot_urdf.urdf"/>
 
   <!-- launch the gazebo simulator and spawn the robot -->
-  <include file="$(find mycobot_ros)/launch/gazebo.launch" >
+  <include file="$(find mycobot_ros)/launch/mycobot_moveit/gazebo.launch" >
     <arg name="paused" value="$(arg paused)"/>
     <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
     <arg name="urdf_path" value="$(arg urdf_path)"/>
   </include>
 
   <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
-  <include file="$(find mycobot_ros)/launch/planning_context.launch">
+  <include file="$(find mycobot_ros)/launch/mycobot_moveit/mycobot_moveit/planning_context.launch">
     <arg name="load_robot_description" value="false"/>
   </include>
 
   <!-- If needed, broadcast static tf for robot root -->
-  
+
 
   <!-- We do not have a robot connected, so publish fake joint states -->
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
@@ -49,21 +49,21 @@
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
 
   <!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
-  <include file="$(find mycobot_ros)/launch/move_group.launch">
+  <include file="$(find mycobot_ros)/launch/mycobot_moveit/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>  
+  </include>
 
   <!-- Run Rviz and load the default config to see the state of the move_group node -->
-  <include file="$(find mycobot_ros)/launch/moveit_rviz.launch">
+  <include file="$(find mycobot_ros)/launch/mycobot_moveit/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="$(find mycobot_ros)/launch/default_warehouse_db.launch" if="$(arg db)">
+  <include file="$(find mycobot_ros)/launch/mycobot_moveit/default_warehouse_db.launch" if="$(arg db)">
     <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
   </include>
 

launch/mycobot_moveit/gazebo.launch

@@ -18,6 +18,6 @@
   <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -x 0 -y 0 -z 0"
     respawn="false" output="screen" />
 
-  <include file="$(find mycobot_ros)/launch/ros_controllers.launch"/>
+  <include file="$(find mycobot_ros)/launch/mycobot_moveit/ros_controllers.launch"/>
 
 </launch>

launch/mycobot_moveit/run_benchmark_ompl.launch

@@ -4,12 +4,12 @@
   <arg name="cfg" default="" />
 
   <!-- Load URDF -->
-  <include file="$(find mycobot_ros)/launch/planning_context.launch">
+  <include file="$(find mycobot_ros)/launch/mycobot_moveit/planning_context.launch">
     <arg name="load_robot_description" value="true"/>
   </include>
 
   <!-- Start the database -->
-  <include file="$(find mycobot_ros)/launch/warehouse.launch">
+  <include file="$(find mycobot_ros)/launch/mycobot_moveit/warehouse.launch">
     <arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
   </include>
 

launch/mycobot_moveit/warehouse.launch

@@ -4,7 +4,7 @@
   <arg name="moveit_warehouse_database_path" default="" />
 
   <!-- Load warehouse parameters -->
-  <include file="$(find mycobot_ros)/launch/warehouse_settings.launch.xml" />
+  <include file="$(find mycobot_ros)/launch/mycobot_moveit/warehouse_settings.launch.xml" />
 
   <!-- Run the DB server -->
   <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">