feat: make Moveit2 demo talk to arm_pkg

src/astra_arm_moveit_config/launch/spawn_controllers.launch.py

@@ -1,7 +1,42 @@
 from moveit_configs_utils import MoveItConfigsBuilder
 from moveit_configs_utils.launches import generate_spawn_controllers_launch
 
+import os
+
+from launch import LaunchDescription
+from launch.actions import (
+    DeclareLaunchArgument,
+    IncludeLaunchDescription,
+)
+from launch.conditions import IfCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+
+from launch_ros.actions import Node
+from launch_ros.parameter_descriptions import ParameterValue
+
+from srdfdom.srdf import SRDF
+
+from moveit_configs_utils.launch_utils import (
+    add_debuggable_node,
+    DeclareBooleanLaunchArg,
+)
+
 
 def generate_launch_description():
     moveit_config = MoveItConfigsBuilder("ASTRA_Arm", package_name="astra_arm_moveit_config").to_moveit_configs()
-    return generate_spawn_controllers_launch(moveit_config)
+    # return generate_spawn_controllers_launch(moveit_config)
+    controller_names = moveit_config.trajectory_execution.get(
+        "moveit_simple_controller_manager", {}
+    ).get("controller_names", [])
+    ld = LaunchDescription()
+    for controller in controller_names:  # + ["joint_state_broadcaster"]:
+        ld.add_action(
+            Node(
+                package="controller_manager",
+                executable="spawner",
+                arguments=[controller],
+                output="screen",
+            )
+        )
+    return ld