MoveIt1 launch file to execute trajectories on real robot

stretch_moveit_config/launch/move_robot.launch

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+<launch>
+
+  <arg name="rviz" default="true"/>
+  <arg name="debug" default="false" /> <!-- uses GDB -->
+  <arg name="verbose" default="false"/>
+  <arg name="db" default="false" />
+  <arg name="db_path" default="$(find stretch_moveit_config)/default_warehouse_mongo_db" />
+
+  <!-- STRETCH DRIVER -->
+  <param name="/stretch_driver/broadcast_odom_tf" type="bool" value="true"/>
+  <param name="/stretch_driver/fail_out_of_range_goal" type="bool" value="true"/>
+  <include file="$(find stretch_core)/launch/stretch_driver.launch" pass_all_args="true"/>
+  <!-- -->
+
+  <!-- LOAD SRDF & OTHER CONFIG -->
+  <include file="$(find stretch_moveit_config)/launch/planning_context.launch" />
+  <!-- -->
+
+  <!-- MOVEIT -->
+  <include file="$(find stretch_moveit_config)/launch/moveit.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="verbose" value="$(arg verbose)"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- RVIZ -->
+  <include file="$(find stretch_moveit_config)/launch/moveit_rviz.launch" if="$(arg rviz)">
+    <arg name="rviz_config" value="$(find stretch_moveit_config)/launch/moveit.rviz"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- WAREHOUSE -->
+  <include file="$(find stretch_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
+    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  </include>
+
+</launch>

stretch_moveit_config/launch/moveit.launch

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+<launch>
+
+  <!-- GDB Debug Option -->
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix"
+	   value="gdb -x $(find stretch_moveit_config)/launch/gdb_settings.gdb --ex run --args" />
+
+  <!-- Verbose Mode Option -->
+  <arg name="verbose" default="$(arg debug)" />
+  <arg unless="$(arg verbose)" name="command_args" value="" />
+  <arg     if="$(arg verbose)" name="command_args" value="--debug" />
+
+  <!-- move_group settings -->
+  <arg name="pipeline" default="ompl" />
+  <arg name="allow_trajectory_execution" default="true"/>
+  <arg name="fake_execution" default="false"/>
+  <arg name="max_safe_path_cost" default="1"/>
+  <arg name="jiggle_fraction" default="0.05" />
+  <arg name="publish_monitored_planning_scene" default="true"/>
+
+  <arg name="capabilities" default=""/>
+  <arg name="disable_capabilities" default=""/>
+  <!-- load these non-default MoveGroup capabilities (space seperated) -->
+  <!--
+  <arg name="capabilities" value="
+                a_package/AwsomeMotionPlanningCapability
+                another_package/GraspPlanningPipeline
+                " />
+  -->
+
+  <!-- inhibit these default MoveGroup capabilities (space seperated) -->
+  <!--
+  <arg name="disable_capabilities" value="
+                move_group/MoveGroupKinematicsService
+                move_group/ClearOctomapService
+                " />
+  -->
+
+  <arg name="load_robot_description" default="true" />
+  <!-- load URDF, SRDF and joint_limits configuration -->
+  <include file="$(find stretch_moveit_config)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="$(arg load_robot_description)" />
+  </include>
+
+  <!-- Planning Functionality -->
+  <include ns="move_group" file="$(find stretch_moveit_config)/launch/planning_pipeline.launch.xml">
+    <arg name="pipeline" value="$(arg pipeline)" />
+  </include>
+
+  <!-- Trajectory Execution Functionality -->
+  <include ns="move_group" file="$(find stretch_moveit_config)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_manage_controllers" value="true" />
+    <arg name="moveit_controller_manager" value="stretch_description" unless="$(arg fake_execution)"/>
+    <arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
+  </include>
+
+  <!-- Sensors Functionality -->
+  <include ns="move_group" file="$(find stretch_moveit_config)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_sensor_manager" value="stretch_description" />
+  </include>
+
+  <!-- Start the actual move_group node/action server -->
+  <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
+    <!-- Set the display variable, in case OpenGL code is used internally -->
+    <env name="DISPLAY" value="$(optenv DISPLAY :0)" />
+
+    <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
+    <param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
+    <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
+    <param name="capabilities" value="$(arg capabilities)"/>
+    <param name="disable_capabilities" value="$(arg disable_capabilities)"/>
+
+
+    <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
+    <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
+  </node>
+
+</launch>