control.launch.py

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from launch import LaunchDescription
from moveit_configs_utils.launch_utils import (
    add_debuggable_node,
    DeclareBooleanLaunchArg,
)
 
 
def generate_launch_description():
    ld = LaunchDescription()
 
    ld.add_action(DeclareBooleanLaunchArg("debug", default_value=False))
    add_debuggable_node(
        ld,
        package="moveit_setup_assistant",
        executable="moveit_setup_assistant",
        parameters=[
            {
                "setup_steps": [
                    "moveit_setup::core::StartScreenWidget",
                    "moveit_setup::controllers::UrdfModificationsWidget",
                    "moveit_setup::controllers::ROS2ControllersWidget",
                    "moveit_setup::controllers::MoveItControllersWidget",
                    "moveit_setup::core::ConfigurationFilesWidget",
                ]
            },
        ],
    )
 
    return ld