feat(config): configure example runtime launch payloads - #834
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WalkthroughThe PR adds ChangesRuntime launch configuration
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Inline comments:
In `@src/moveit_pro_franka_configs/franka_base_config/launch/runtime.launch.xml`:
- Line 6: Add a trailing newline after the closing </launch> element in the
runtime.launch.xml file, then rerun the end-of-file-fixer via pre-commit run
--all-files.
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Configuration used: Organization UI
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Run ID: a7439090-c885-435e-a9aa-aec7ed50b185
📒 Files selected for processing (20)
src/april_tag_sim/config/config.yamlsrc/dual_arm_sim/config/config.yamlsrc/factory_sim/config/config.yamlsrc/grinding_sim/config/config.yamlsrc/hangar_sim/config/config.yamlsrc/kitchen_sim/config/config.yamlsrc/lab_sim/config/config.yamlsrc/lunar_sim/config/config.yamlsrc/moveit_pro_franka_configs/franka_base_config/CMakeLists.txtsrc/moveit_pro_franka_configs/franka_base_config/config/config.yamlsrc/moveit_pro_franka_configs/franka_base_config/launch/runtime.launch.xmlsrc/moveit_pro_kinova_configs/kinova_gen3_base_config/config/config.yamlsrc/moveit_pro_kinova_configs/kinova_gen3_site_config/config/config.yamlsrc/moveit_pro_kinova_configs/kinova_sim/config/config.yamlsrc/moveit_pro_kinova_configs/space_satellite_sim/config/config.yamlsrc/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/config/config.yamlsrc/moveit_pro_ur_configs/mock_sim/config/config.yamlsrc/moveit_pro_ur_configs/multi_arm_sim/config/config.yamlsrc/moveit_pro_ur_configs/picknik_ur_base_config/config/config.yamlsrc/moveit_pro_ur_configs/picknik_ur_site_config/config/config.yaml
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Aug 6, 2026
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[written by AI]
Motivation
Paired with PickNikRobotics/moveit_pro#21104, which makes
runtime_launch_filean explicit required MoveIt Pro configuration setting. Example configuration packages need to declare their selected runtime payload so inherited launch selection remains explicit and each simulation preserves its ownruntime.launch.xmlentrypoint.Changes
runtime_launch_filelocations for every example configuration package that owns a runtime payload.franka_base_configruntime payload.behavior_hub_catalog, which intentionally has no runtime payload of its own.Validation
config.yamlandruntime.launch.xmlfiles.franka_base_configin the Jazzy development image; confirmed its installed runtime payload is well-formed XML.needs: moveit_pro/#21104