<launch>
  <!-- The planning and execution components of MoveIt! configured to run -->
  <!-- using the ROS-Industrial interface. -->
 
  <!-- the "sim" argument controls whether we connect to a Simulated or Real robot -->
  <!--  - if sim=false, a robot_ip argument is required -->
  <arg name="sim" default="true" />
  <arg name="robot_ip" unless="$(arg sim)" />
  
  <!-- load robot specific joint names (in order expected by controller) -->
   <rosparam command="load" file="$(find ur5_moveit_config)/config/joint_names.yaml"/>
 
  <!-- load the robot_description parameter before launching ROS-I nodes -->
  <include file="$(find ur5_moveit_config)/launch/planning_context.launch" >
    <arg name="load_robot_description" value="true" />
  </include>

  <!-- run the robot simulator and action interface nodes -->
  <group if="$(arg sim)">
    <include file="$(find industrial_robot_simulator)/launch/robot_interface_simulator.launch" />
  </group>

  <!-- run the "real robot" interface nodes -->
  <!--   - this typically includes: robot_state, motion_interface, and joint_trajectory_action nodes -->
  <!--   - replace these calls with appropriate robot-specific calls or launch files -->
  <group unless="$(arg sim)">
    <!-- UR driver consists of a single node - does not currrently follow ROS-I convention -->
    <node name="ur_driver" pkg="ur_driver" type="driver.py" args="$(arg robot_ip)" >
      <remap from="follow_joint_trajectory/" to="joint_trajectory_action/"/>
    </node>
  </group>

  <!-- publish the robot state (tf transforms) -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />

  <include file="$(find ur5_moveit_config)/launch/move_group.launch">
    <arg name="publish_monitored_planning_scene" value="true" />
  </include>

  <include file="$(find ur5_moveit_config)/launch/moveit_rviz.launch">
    <arg name="config" value="true"/>
  </include>
  
  <include file="$(find ur5_moveit_config)/launch/default_warehouse_db.launch" />

</launch>