From 44a2edbb39723527a142b33c4d5b75408a53b4a6 Mon Sep 17 00:00:00 2001
From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com>
Date: Thu, 14 Mar 2024 14:45:03 +0100
Subject: [PATCH] Use different packages for launch and config packages in
 generate_demo_launch (backport #2647) (#2650)

(cherry picked from commit 627e95ac347ce7b58145d522b2f60a8c6b876097)

Co-authored-by: Forrest Rogers-Marcovitz <39061824+forrest-rm@users.noreply.github.com>
Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
---
 .../moveit_configs_utils/launches.py          | 21 ++++++++++++-------
 1 file changed, 13 insertions(+), 8 deletions(-)

diff --git a/moveit_configs_utils/moveit_configs_utils/launches.py b/moveit_configs_utils/moveit_configs_utils/launches.py
index e8e588bd81..4985b2caab 100644
--- a/moveit_configs_utils/moveit_configs_utils/launches.py
+++ b/moveit_configs_utils/moveit_configs_utils/launches.py
@@ -249,10 +249,12 @@ def generate_move_group_launch(moveit_config):
     return ld
 
 
-def generate_demo_launch(moveit_config):
+def generate_demo_launch(moveit_config, launch_package_path=None):
     """
     Launches a self contained demo
 
+    launch_package_path is optional to use different launch and config packages
+
     Includes
      * static_virtual_joint_tfs
      * robot_state_publisher
@@ -261,6 +263,9 @@ def generate_demo_launch(moveit_config):
      * warehouse_db (optional)
      * ros2_control_node + controller spawners
     """
+    if launch_package_path == None:
+        launch_package_path = moveit_config.package_path
+
     ld = LaunchDescription()
     ld.add_action(
         DeclareBooleanLaunchArg(
@@ -277,11 +282,11 @@ def generate_demo_launch(moveit_config):
         )
     )
     ld.add_action(DeclareBooleanLaunchArg("use_rviz", default_value=True))
-
     # If there are virtual joints, broadcast static tf by including virtual_joints launch
     virtual_joints_launch = (
-        moveit_config.package_path / "launch/static_virtual_joint_tfs.launch.py"
+        launch_package_path / "launch/static_virtual_joint_tfs.launch.py"
     )
+
     if virtual_joints_launch.exists():
         ld.add_action(
             IncludeLaunchDescription(
@@ -293,7 +298,7 @@ def generate_demo_launch(moveit_config):
     ld.add_action(
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource(
-                str(moveit_config.package_path / "launch/rsp.launch.py")
+                str(launch_package_path / "launch/rsp.launch.py")
             ),
         )
     )
@@ -301,7 +306,7 @@ def generate_demo_launch(moveit_config):
     ld.add_action(
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource(
-                str(moveit_config.package_path / "launch/move_group.launch.py")
+                str(launch_package_path / "launch/move_group.launch.py")
             ),
         )
     )
@@ -310,7 +315,7 @@ def generate_demo_launch(moveit_config):
     ld.add_action(
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource(
-                str(moveit_config.package_path / "launch/moveit_rviz.launch.py")
+                str(launch_package_path / "launch/moveit_rviz.launch.py")
             ),
             condition=IfCondition(LaunchConfiguration("use_rviz")),
         )
@@ -320,7 +325,7 @@ def generate_demo_launch(moveit_config):
     ld.add_action(
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource(
-                str(moveit_config.package_path / "launch/warehouse_db.launch.py")
+                str(launch_package_path / "launch/warehouse_db.launch.py")
             ),
             condition=IfCondition(LaunchConfiguration("db")),
         )
@@ -341,7 +346,7 @@ def generate_demo_launch(moveit_config):
     ld.add_action(
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource(
-                str(moveit_config.package_path / "launch/spawn_controllers.launch.py")
+                str(launch_package_path / "launch/spawn_controllers.launch.py")
             ),
         )
     )