feat(config): configure example runtime launch payloads

src/april_tag_sim/config/config.yaml

@@ -4,6 +4,9 @@
 
 # Name of the package to specialize
 based_on_package: "lab_sim"
+runtime_launch_file:
+  package: "april_tag_sim"
+  path: "launch/runtime.launch.xml"
 hardware:
   # Parameters used to configure the robot description through XACRO.
   # A URDF and SRDF are both required.

src/dual_arm_sim/config/config.yaml

@@ -4,6 +4,10 @@
 #
 ###############################################################
 
+runtime_launch_file:
+  package: "dual_arm_sim"
+  path: "launch/runtime.launch.xml"
+
 # Baseline hardware configuration parameters for MoveIt Pro.
 # [Required]
 hardware:

src/factory_sim/config/config.yaml

@@ -4,6 +4,10 @@
 #
 ###############################################################
 
+runtime_launch_file:
+  package: "factory_sim"
+  path: "launch/runtime.launch.xml"
+
 # Baseline hardware configuration parameters for MoveIt Pro.
 # [Required]
 hardware:

src/grinding_sim/config/config.yaml

@@ -4,6 +4,10 @@
 #
 ###############################################################
 
+runtime_launch_file:
+  package: "grinding_sim"
+  path: "launch/runtime.launch.xml"
+
 # Baseline hardware configuration parameters for MoveIt Pro.
 # [Required]
 hardware:

src/hangar_sim/config/config.yaml

@@ -4,6 +4,9 @@
 
 # Name of the package to specialize
 based_on_package: "picknik_ur_base_config"
+runtime_launch_file:
+  package: "hangar_sim"
+  path: "launch/runtime.launch.xml"
 hardware:
   # Parameters used to configure the robot description through XACRO.
   # A URDF and SRDF are both required.

src/kitchen_sim/config/config.yaml

@@ -5,6 +5,9 @@
 ###############################################################
 
 based_on_package: "franka_base_config"
+runtime_launch_file:
+  package: "kitchen_sim"
+  path: "launch/runtime.launch.xml"
 # Baseline hardware configuration parameters for MoveIt Pro.
 # [Required]
 hardware:

src/lab_sim/config/config.yaml

@@ -4,6 +4,9 @@
 
 # Name of the package to specialize
 based_on_package: "picknik_ur_base_config"
+runtime_launch_file:
+  package: "lab_sim"
+  path: "launch/runtime.launch.xml"
 hardware:
   # Parameters used to configure the robot description through XACRO.
   # A URDF and SRDF are both required.

src/lunar_sim/config/config.yaml

@@ -5,6 +5,9 @@
 #
 
 based_on_package: "phoebe_sim"
+runtime_launch_file:
+  package: "lunar_sim"
+  path: "launch/runtime.launch.xml"
 
 hardware:
   robot_description:

src/moveit_pro_franka_configs/franka_base_config/CMakeLists.txt

@@ -6,6 +6,7 @@ find_package(ament_cmake REQUIRED)
 install(
   DIRECTORY
     config
+    launch
   DESTINATION
     share/${PROJECT_NAME}
 )

src/moveit_pro_franka_configs/franka_base_config/config/config.yaml

@@ -4,6 +4,10 @@
 #
 ###############################################################
 
+runtime_launch_file:
+  package: "franka_base_config"
+  path: "launch/runtime.launch.xml"
+
 # Sets ROS global params for launch.
 # [Optional]
 ros_global_params:

src/moveit_pro_franka_configs/franka_base_config/launch/runtime.launch.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<launch>
+  <include
+    file="$(find-pkg-share moveit_studio_agent)/launch/studio_agent_bridge.launch.xml"
+  />
+</launch>

src/moveit_pro_kinova_configs/kinova_gen3_base_config/config/config.yaml

@@ -4,6 +4,10 @@
 #
 ###############################################################
 
+runtime_launch_file:
+  package: "kinova_gen3_base_config"
+  path: "launch/runtime.launch.xml"
+
 hardware:
   # If the MoveIt Pro Agent should launch the ros2 controller node.
   # [Optional, default=True]

src/moveit_pro_kinova_configs/kinova_gen3_site_config/config/config.yaml

@@ -4,6 +4,9 @@
 
 # Name of the package to specialize
 based_on_package: "kinova_gen3_base_config"
+runtime_launch_file:
+  package: "kinova_gen3_site_config"
+  path: "launch/runtime.launch.xml"
 
 hardware:
   # Real-hardware drivers. Overrides the base config's simulated default

src/moveit_pro_kinova_configs/kinova_sim/config/config.yaml

@@ -4,6 +4,10 @@
 #
 ###############################################################
 
+runtime_launch_file:
+  package: "kinova_sim"
+  path: "launch/runtime.launch.xml"
+
 # Baseline hardware configuration parameters for MoveIt Pro.
 # [Required]
 hardware:

src/moveit_pro_kinova_configs/space_satellite_sim/config/config.yaml

@@ -6,6 +6,9 @@
 
 # Extend the basic Kinova MuJoCo configuration
 based_on_package: kinova_sim
+runtime_launch_file:
+  package: "space_satellite_sim"
+  path: "launch/runtime.launch.xml"
 
 # Baseline hardware configuration parameters for MoveIt Pro.
 # [Required]

src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/config/config.yaml

@@ -6,6 +6,9 @@
 
 # Extend the basic Kinova MuJoCo configuration
 based_on_package: "space_satellite_sim"
+runtime_launch_file:
+  package: "space_satellite_sim_camera_cal"
+  path: "launch/runtime.launch.xml"
 
 # Baseline hardware configuration parameters for MoveIt Pro.
 # [Required]

src/moveit_pro_ur_configs/mock_sim/config/config.yaml

@@ -1,4 +1,7 @@
 based_on_package: "picknik_ur_base_config"
+runtime_launch_file:
+  package: "mock_sim"
+  path: "launch/runtime.launch.xml"
 
 hardware:
   # Update robot description for machine tending world.

src/moveit_pro_ur_configs/multi_arm_sim/config/config.yaml

@@ -1,5 +1,9 @@
 # Baseline hardware configuration parameters for MoveIt Pro.
 # [Required]
+runtime_launch_file:
+  package: "multi_arm_sim"
+  path: "launch/runtime.launch.xml"
+
 hardware:
 
   # If the MoveIt Pro Agent should launch the ros2 controller node.

src/moveit_pro_ur_configs/picknik_ur_base_config/config/config.yaml

@@ -4,6 +4,10 @@
 #
 ###############################################################
 
+runtime_launch_file:
+  package: "picknik_ur_base_config"
+  path: "launch/runtime.launch.xml"
+
 # Baseline hardware configuration parameters for MoveIt Pro.
 # [Required]
 hardware:

src/moveit_pro_ur_configs/picknik_ur_site_config/config/config.yaml

@@ -1,4 +1,7 @@
 based_on_package: "picknik_ur_base_config"
+runtime_launch_file:
+  package: "picknik_ur_site_config"
+  path: "launch/runtime.launch.xml"
 
 objectives:
   behavior_loader_plugins: