Hello there,

i got this code to launch my Moveit planning - now i want to add a simulaneous gazebo simulation of the robot. How can i do that?

Here is my Code of the Moveit launch

import os from launch import LaunchDescription from launch.actions import DeclareLaunchArgument, OpaqueFunction from launch.substitutions import LaunchConfiguration, PathJoinSubstitution from launch.conditions import IfCondition, UnlessCondition from launchros.actions import Node from launchros.substitutions import FindPackageShare from launch.actions import ExecuteProcess from amentindexpython.packages import getpackagesharedirectory from moveitconfigs_utils import MoveItConfigsBuilder

def generatelaunchdescription():

declared_arguments = []
declared_arguments.append(
    DeclareLaunchArgument(
        "rviz_config",
        default_value="moveit.rviz",
        description="RViz configuration file",
    )
)

return LaunchDescription(
    declared_arguments + [OpaqueFunction(function=launch_setup)]
)

def launch_setup(context, args, *kwargs):

moveit_config = (
    MoveItConfigsBuilder("kr10zelle")
    .robot_description(file_path="config/KR_10.urdf.xacro")
    #.trajectory_execution(file_path="config/gripper_moveit_controllers.yaml")
    .planning_scene_monitor(
        publish_robot_description=True, publish_robot_description_semantic=True
    )
    .planning_pipelines(
        pipelines=["ompl", "chomp", "pilz_industrial_motion_planner"]
    )
    .to_moveit_configs()
)

# Start the actual move_group node/action server
run_move_group_node = Node(
    package="moveit_ros_move_group",
    executable="move_group",
    output="screen",
    parameters=[moveit_config.to_dict()],
)

rviz_base = LaunchConfiguration("rviz_config")
rviz_config = PathJoinSubstitution(
    [FindPackageShare("kr10zelle_moveit_config"), "config", rviz_base]
)

# RViz
rviz_node = Node(
    package="rviz2",
    executable="rviz2",
    name="rviz2",
    output="log",
    arguments=["-d", rviz_config],
    parameters=[
        moveit_config.robot_description,
        moveit_config.robot_description_semantic,
        moveit_config.robot_description_kinematics,
        moveit_config.planning_pipelines,
        moveit_config.joint_limits,
    ],
)

# Static TF
static_tf = Node(
    package="tf2_ros",
    executable="static_transform_publisher",
    name="static_transform_publisher",
    output="log",
    arguments=["0.0", "0.0", "0.0", "0.0", "0.0", "0.0", "world", "base_link"],
)

# Publish TF
robot_state_publisher = Node(
    package="robot_state_publisher",
    executable="robot_state_publisher",
    name="robot_state_publisher",
    output="both",
    parameters=[moveit_config.robot_description],
)

# ros2_control using FakeSystem as hardware
ros2_controllers_path = os.path.join(
    get_package_share_directory("kr10zelle_moveit_config"),
    "config",
    "ros2_controllers.yaml",
)
ros2_control_node = Node(
    package="controller_manager",
    executable="ros2_control_node",
    parameters=[moveit_config.robot_description, ros2_controllers_path],
    output="both",
)

joint_state_broadcaster_spawner = Node(
    package="controller_manager",
    executable="spawner",
    arguments=[
        "joint_state_broadcaster",
        "--controller-manager-timeout",
        "300",
        "--controller-manager",
        "/controller_manager",
    ],
)

arm_controller_spawner = Node(
    package="controller_manager",
    executable="spawner",
    arguments=["kr10_arm_controller", "-c", "/controller_manager"],
)

nodes_to_start = [
    rviz_node,
    static_tf,
    robot_state_publisher,
    run_move_group_node,
    ros2_control_node,
    joint_state_broadcaster_spawner,
    arm_controller_spawner,
]

return nodes_to_start