start_sim_test.launch

<launch>

  <arg name="rviz" default="true" />
  <arg name="debug" default="false" />
  <arg name="luigi_is_fake" default="true" />

<!-- without this the action server will give you an exception because it is sending the feedback to no where -->
<!--   <node if="$(arg luigi_is_fake)" name="fake_luigi_client" pkg="coordinator" type="fake_luigi_client.py" respawn="false" output="screen">
  </node>
  
  <node name="luigi_scoop_server" pkg="coordinator" type="luigi_scoop_server.py" respawn="false" output="screen">
  </node>
 -->  
  <!-- scooping -->
  <node name="scooping_planning" pkg="gelataio_boy_control" type="scooping_planning" respawn="false" output="screen">
  </node>
  <node name="sim_joint_state_converter" pkg="gelataio_boy_control" type="sim_joint_state_converter" respawn="false" output="screen">
  </node>

  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
  <include file="$(find kindyn)/launch/robot.launch">
    <arg name="robot_name" value="roboy_icecream"/>
    <arg name="urdf_file_name" value="cardsflow.urdf"/>
    <arg name="simulated" value="true"/>
  </include>

  <include file="$(find moveit_icecream_roboy)/launch/move_group.launch">
  </include>

  <!-- Run Rviz and load the default config to see the state of the move_group node -->
  <node if="$(arg rviz)" type="rviz" name="rviz" pkg="rviz" />

</launch>