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is your folder structure this way src/ -catkin_pkg -moveit_config -cmakelists -package.xml

then type command roslaunch moveit_config demo.launch

is your folder structure this ~~way~~ way

src/
  -catkin_pkg
 -moveit_config
 -cmakelists
 -package.xml-package.xml

then type command

roslaunch moveit_config demo.launchdemo.launch

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