How to construct a moveit planning execution launch file for a ur5 using the ur_robot_driver in melodic?

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How to construct a moveit planning execution launch file for a ur5 using the ur_robot_driver in melodic?

I have setup the ur robot driver and been able to move the robot with the bringup.launch. However, I tried to follow the ROS Industrial Training to construct the planning execution launch file but it does not seem match with the new driver. I tried it anyway and not even RViz can startup properly!

Please help.

Victor Wu.