Fix xacro and change launcher

Author: Jepear19

Industrial/ur5_gripper_description/urdf/ur5_robotiq85_gripper.urdf.xacro

@@ -8,7 +8,7 @@
   <xacro:arg name="use_fake_hardware" default="false"/>
   <xacro:arg name="fake_sensor_commands" default="false"/>
   <xacro:arg name="sim_gazebo" default="false"/>
-  <xacro:arg name="sim_gz" default="false"/>
+  <xacro:arg name="sim_gz" default="true"/>
   <xacro:arg name="simulation_controllers" default=""/>
 
   <xacro:include filename="$(find ur5_gripper_description)/urdf/ur.urdf.xacro" />
@@ -97,5 +97,12 @@
     prefix="" 
     sim_gz="true"
     use_fake_hardware="false"/>
+
+  <xacro:ur_ros2_control
+    name="ur"
+    prefix=""
+    sim_gz="true"
+    use_fake_hardware="false"
+  />
 
 </robot>

Launchers/pick_place_harmonic/pick_place_harmonic.launch.py

@@ -1,23 +1,90 @@
+#!/usr/bin/env python3
+
 """
-Pick Place Harmonic - Main Launcher
+Pick Place Harmonic - Main Launcher (FULL)
 """
 
 import os
+
 from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription
+from launch.actions import IncludeLaunchDescription, TimerAction
 from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
 
 
 def generate_launch_description():
 
     base_dir = os.path.dirname(__file__)
 
     world_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(os.path.join(base_dir, "world.launch.py"))
+        PythonLaunchDescriptionSource(
+            os.path.join(base_dir, "world.launch.py")
+        )
     )
 
     robot_launch = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(os.path.join(base_dir, "robot.launch.py"))
+        PythonLaunchDescriptionSource(
+            os.path.join(base_dir, "robot.launch.py")
+        )
+    )
+
+    moveit_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            os.path.join(
+                get_package_share_directory("ur5_gripper_moveit_config"),
+                "launch",
+                "move_group.launch.py"
+            )
+        )
+    )
+
+    robmove_node = Node(
+        package="ros2srrc_execution",
+        executable="robmove",
+        output="screen",
+        parameters=[
+            {"use_sim_time": True},
+            {"ROB_PARAM": "ur5"}
+        ],
+    )
+
+    robpose_node = Node(
+        package="ros2srrc_execution",
+        executable="robpose",
+        output="screen",
+        parameters=[
+            {"use_sim_time": True},
+            {"ROB_PARAM": "ur5"}
+        ],
+    )
+
+    move_node = Node(
+        package="ros2srrc_execution",
+        executable="move",
+        output="screen",
+        parameters=[
+            {"use_sim_time": True},
+            {"ROB_PARAM": "ur5"},
+            {"EE_PARAM": "robotiq"},
+            {"ENV_PARAM": "gazebo"},
+        ],
+    )
+
+
+    delayed_moveit = TimerAction(
+        period=5.0,
+        actions=[moveit_launch]
+    )
+
+    delayed_interfaces = TimerAction(
+        period=8.0,
+        actions=[robmove_node, robpose_node, move_node]
     )
 
-    return LaunchDescription([world_launch, robot_launch])
+    return LaunchDescription([
+        world_launch,
+        robot_launch,
+        delayed_moveit,
+        delayed_interfaces
+    ])