From ec99780783b14631045b937a258209679012905a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E5=BC=A0=E7=AB=8B=E5=86=9B?=
 <lijun.zhang@elephantrobotices.com>
Date: Tue, 6 Jul 2021 15:03:03 +0800
Subject: [PATCH] fix urdf of launch error. fix launch problem.

---
 launch/{ => mycobot_moveit}/demo_gazebo.launch   | 16 ++++++++--------
 launch/{ => mycobot_moveit}/gazebo.launch        |  4 ++--
 .../{ => mycobot_moveit}/joystick_control.launch |  0
 .../run_benchmark_ompl.launch                    |  4 ++--
 .../{ => mycobot_moveit}/setup_assistant.launch  |  0
 launch/{ => mycobot_moveit}/warehouse.launch     |  2 +-
 .../warehouse_settings.launch.xml                |  0
 7 files changed, 13 insertions(+), 13 deletions(-)
 rename launch/{ => mycobot_moveit}/demo_gazebo.launch (84%)
 rename launch/{ => mycobot_moveit}/gazebo.launch (89%)
 rename launch/{ => mycobot_moveit}/joystick_control.launch (100%)
 rename launch/{ => mycobot_moveit}/run_benchmark_ompl.launch (82%)
 rename launch/{ => mycobot_moveit}/setup_assistant.launch (100%)
 rename launch/{ => mycobot_moveit}/warehouse.launch (82%)
 rename launch/{ => mycobot_moveit}/warehouse_settings.launch.xml (100%)

diff --git a/launch/demo_gazebo.launch b/launch/mycobot_moveit/demo_gazebo.launch
similarity index 84%
rename from launch/demo_gazebo.launch
rename to launch/mycobot_moveit/demo_gazebo.launch
index 903d5a2..5b9c8b5 100644
--- a/launch/demo_gazebo.launch
+++ b/launch/mycobot_moveit/demo_gazebo.launch
@@ -22,22 +22,22 @@
   <arg name="gazebo_gui" default="true"/>
   <arg name="paused" default="false"/>
   <!-- By default, use the urdf location provided from the package -->
-  <arg name="urdf_path" default="$(find mycobot_ros)/urdf/mycobot_urdf.urdf"/>
+  <arg name="urdf_path" default="$(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>
 
diff --git a/launch/gazebo.launch b/launch/mycobot_moveit/gazebo.launch
similarity index 89%
rename from launch/gazebo.launch
rename to launch/mycobot_moveit/gazebo.launch
index 00d0739..c209f83 100644
--- a/launch/gazebo.launch
+++ b/launch/mycobot_moveit/gazebo.launch
@@ -2,7 +2,7 @@
 <launch>
   <arg name="paused" default="false"/>
   <arg name="gazebo_gui" default="true"/>
-  <arg name="urdf_path" default="$(find mycobot_ros)/urdf/mycobot_urdf.urdf"/>
+  <arg name="urdf_path" default="$(find mycobot_ros)/urdf/mycobot/mycobot_urdf.urdf"/>
 
   <!-- startup simulated world -->
   <include file="$(find gazebo_ros)/launch/empty_world.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>
diff --git a/launch/joystick_control.launch b/launch/mycobot_moveit/joystick_control.launch
similarity index 100%
rename from launch/joystick_control.launch
rename to launch/mycobot_moveit/joystick_control.launch
diff --git a/launch/run_benchmark_ompl.launch b/launch/mycobot_moveit/run_benchmark_ompl.launch
similarity index 82%
rename from launch/run_benchmark_ompl.launch
rename to launch/mycobot_moveit/run_benchmark_ompl.launch
index 18d2446..9700689 100644
--- a/launch/run_benchmark_ompl.launch
+++ b/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>
 
diff --git a/launch/setup_assistant.launch b/launch/mycobot_moveit/setup_assistant.launch
similarity index 100%
rename from launch/setup_assistant.launch
rename to launch/mycobot_moveit/setup_assistant.launch
diff --git a/launch/warehouse.launch b/launch/mycobot_moveit/warehouse.launch
similarity index 82%
rename from launch/warehouse.launch
rename to launch/mycobot_moveit/warehouse.launch
index aff99ab..0b7f91e 100644
--- a/launch/warehouse.launch
+++ b/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">
diff --git a/launch/warehouse_settings.launch.xml b/launch/mycobot_moveit/warehouse_settings.launch.xml
similarity index 100%
rename from launch/warehouse_settings.launch.xml
rename to launch/mycobot_moveit/warehouse_settings.launch.xml