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<launch>
<!-- By default, we do not start a database (it can be large) -->
<arg name="db" default="false" />
<!-- By default, we are not in debug mode -->
<arg name="debug" default="false" />
<!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
<include file="$(find staro_moveit_config)/launch/planning_context.launch">
<arg name="load_robot_description" value="true"/>
</include>
<!-- If needed, broadcast static tf for robot root -->
<node pkg="tf" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 odom BODY 100" />
<!-- We do not have a robot connected, so publish fake joint states -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="/use_gui" value="false"/>
<rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
</node>
<!-- Given the published joint states, publish tf for the robot links -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
<!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
<include file="$(find staro_moveit_config)/launch/move_group.launch">
<arg name="allow_trajectory_execution" value="true"/>
<arg name="fake_execution" value="true"/>
<arg name="info" value="true"/>
<arg name="debug" value="$(arg debug)"/>
</include>
<!-- Run Rviz and load the default config to see the state of the move_group node -->
<include file="$(find staro_moveit_config)/launch/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 staro_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"/>
</launch>
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