add new launch file structure

launch/application.launch

-<launch>
-
-    <arg name="robot_ip" default="172.31.1.13" />
-    <arg name="load_gripper" default="true" />
-
-    <include file="$(find franka_control)/launch/franka_control.launch" >
-        <arg name="robot_ip" value="$(arg robot_ip)" />
-        <arg name="load_gripper" value="$(arg load_gripper)"/>
-    </include>
-
-    <!-- Load joint controller configurations from YAML file to parameter server -->
-    <rosparam file="$(find ccf)/config/panda_control.yaml" command="load" />
-
-    <param name="move_group/trajectory_execution/allowed_execution_duration_scaling" value="4.0" />
-    <param name="move_group/trajectory_execution/execution_duration_monitoring" value="false" />
-
-    <!-- load the controllers -->
-    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="position_joint_trajectory_controller " />
-
-    <include file="$(find panda_moveit_config)/launch/planning_context.launch">
-        <arg name="load_robot_description" value="true" />
-        <arg name="load_gripper" value="$(arg load_gripper)" />
-    </include>
-    <include file="$(find panda_moveit_config)/launch/move_group.launch">
-        <arg name="load_gripper" value="$(arg load_gripper)" />
-    </include>
-
-    <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_1" args="0 0 0 0 0 0 1 world panda_link0" />
-
-    <include file="$(find panda_moveit_config)/launch/moveit_rviz.launch" />
-
-    <rosparam file="$(find ccf)/config/config.yaml" command="load" />
-    <rosparam file="$(find ccf)/config/config_realrobot.yaml" command="load" />
-
-    <node pkg="ccf" type="scene_controller" name="scene_controller_instance" output="screen" />
-
-    <node pkg="ccf" type="moveit_cgv_controller" name="moveit_cgv_controller_instance" output="screen" />
-
-    <rosparam file="$(find ccf)/config/config.yaml" command="load" />
-
-</launch>
\ No newline at end of file

launch/application_demo.launch

-<launch>
-
-    <arg name="robot_ip" default="172.31.1.13" />
-    <arg name="load_gripper" default="true" />
-
-    <include file="$(find franka_control)/launch/franka_control.launch" >
-        <arg name="robot_ip" value="$(arg robot_ip)" />
-        <arg name="load_gripper" value="$(arg load_gripper)"/>
-    </include>
-
-    <!-- Load joint controller configurations from YAML file to parameter server -->
-    <rosparam file="$(find ccf)/config/panda_control.yaml" command="load" />
-
-    <param name="move_group/trajectory_execution/allowed_execution_duration_scaling" value="4.0" />
-    <param name="move_group/trajectory_execution/execution_duration_monitoring" value="false" />
-
-    <!-- load the controllers -->
-    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="position_joint_trajectory_controller " />
-
-    <include file="$(find panda_moveit_config)/launch/planning_context.launch">
-        <arg name="load_robot_description" value="true" />
-        <arg name="load_gripper" value="$(arg load_gripper)" />
-    </include>
-    <include file="$(find panda_moveit_config)/launch/move_group.launch">
-        <arg name="load_gripper" value="$(arg load_gripper)" />
-    </include>
-
-    <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_1" args="0 0 0 0 0 0 1 world panda_link0" />
-
-    <include file="$(find panda_moveit_config)/launch/moveit_rviz.launch" />
-
-    <rosparam file="$(find ccf)/config/config.yaml" command="load" />
-    <rosparam file="$(find ccf)/config/config_realrobot.yaml" command="load" />
-
-    <node pkg="ccf" type="scene_controller" name="scene_controller_instance" output="screen" />
-
-    <node pkg="ccf" type="dummy_cgv" name="dummy_cgv_instance" output="screen" />
-
-    <node pkg="ccf" type="moveit_cgv_controller" name="moveit_cgv_controller_instance" output="screen" />
-
-    <rosparam file="$(find ccf)/config/config.yaml" command="load" />
-
-</launch>

launch/cleaning/cleaning_robot_controller.launch

+<launch>
+
+    <arg name="robot_ip" default="172.31.1.13" />
+    <arg name="load_gripper" default="true" />
+
+    <include file="$(find ccf)/launch/cleaning/_robot_setup.launch" >
+        <arg name="robot_ip" value="$(arg robot_ip)" />
+        <arg name="load_gripper" value="$(arg load_gripper)"/>
+    </include>
+
+    <node pkg="ccf" type="moveit_cgv_controller" name="moveit_cgv_controller_instance" output="screen" />
+
+</launch>
\ No newline at end of file

launch/cleaning/cleaning_robot_controller_and_dummy_cgv.launch

+<launch>
+
+    <arg name="robot_ip" default="172.31.1.13" />
+    <arg name="load_gripper" default="true" />
+
+    <include file="$(find ccf)/launch/cleaning/_robot_setup.launch" >
+        <arg name="robot_ip" value="$(arg robot_ip)" />
+        <arg name="load_gripper" value="$(arg load_gripper)"/>
+    </include>
+
+    <node pkg="ccf" type="moveit_cgv_controller" name="moveit_cgv_controller_instance" output="screen" />
+    <node pkg="ccf" type="dummy_cgv" name="my_dummy_cgv" output="screen" />
+
+</launch>
\ No newline at end of file

launch/cleaning/cleaning_simulation.launch

+<launch>
+
+    <include file="$(find ccf)/launch/cleaning/_simulation_setup.launch"/>
+
+    <node pkg="ccf" type="moveit_cgv_controller" name="moveit_cgv_controller_instance" output="screen" />
+
+</launch>
\ No newline at end of file

launch/cleaning/cleaning_simulation_and_dummy_cgv.launch

+<launch>
+
+    <include file="$(find ccf)/launch/cleaning/_simulation_setup.launch"/>
+
+    <node pkg="ccf" type="dummy_cgv" name="dummy_cgv_instance" output="screen" />
+    <node pkg="ccf" type="moveit_cgv_controller" name="moveit_cgv_controller_instance" output="screen" />
+
+</launch>
\ No newline at end of file

launch/simulation.launch

-<launch>
-
-    <include file="$(find panda_simulation)/launch/simulation.launch"/>
-
-
-    <node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false"
-          args="-d $(find ccf)/config/config.rviz" output="screen">
-        <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-    </node>
-
-    <rosparam file="$(find ccf)/config/config.yaml" command="load" />
-    <rosparam file="$(find ccf)/config/config_simulation.yaml" command="load" />
-
-    <node pkg="ccf" type="scene_controller" name="scene_controller_instance" output="screen" />
-
-    <node pkg="ccf" type="moveit_cgv_controller" name="moveit_cgv_controller_instance" output="screen" />
-
-    <rosparam file="$(find ccf)/config/config.yaml" command="load" />
-
-</launch>
\ No newline at end of file

launch/simulation_demo.launch

-<launch>
-
-    <include file="$(find panda_simulation)/launch/simulation.launch"/>
-
-
-    <node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false"
-          args="-d $(find ccf)/config/config.rviz" output="screen">
-        <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-    </node>
-
-    <rosparam file="$(find ccf)/config/config.yaml" command="load" />
-    <rosparam file="$(find ccf)/config/config_simulation.yaml" command="load" />
-
-    <node pkg="ccf" type="scene_controller" name="scene_controller_instance" output="screen" />
-
-    <node pkg="ccf" type="dummy_cgv" name="dummy_cgv_instance" output="screen" />
-
-    <node pkg="ccf" type="moveit_cgv_controller" name="moveit_cgv_controller_instance" output="screen" />
-
-    <rosparam file="$(find ccf)/config/config.yaml" command="load" />
-
-</launch>
\ No newline at end of file