fix minor issues and add more launch files

config/config.yaml

+connector_node_ros_cgv:
+  topics:
+    selection: "selection"
 max_grasp_approach_velocity: 0.2
 max_grasp_approach_acceleration: 0.2
 max_grasp_transition_velocity: 0.2

launch/cleaning/cleaning_double__dummy_controller_and_dummy_cgv.launch → launch/cleaning/cleaning_dummy_main_dummy_client_dummy_cgv.launch

 <launch>
     <node pkg="ccf" type="dummy_cgv" name="my_dummy_cgv" output="screen" />
-    <node pkg="ccf" type="dummy_cgv_controller" name="my_first_dummy_cgv_controller" output="screen">
+    <node pkg="ccf" type="dummy_cgv_controller" name="main_controller" output="screen">
         <param name="connection_address" type="string" value="tcp://*:6576" />
         <param name="client_controllers" type="yaml" value="['tcp://127.0.0.1:6586']" />
     </node>
-    <node pkg="ccf" type="dummy_cgv_controller" name="my_second_dummy_cgv_controller" output="screen">
+    <node pkg="ccf" type="dummy_cgv_controller" name="client_controller" output="screen">
         <param name="connection_address" type="string" value="tcp://*:6586" />
         <param name="client_controllers" type="yaml" value="[]" />
     </node>

launch/cleaning/cleaning_dummy_main_simulated_client.launch

+<launch>
+    <include file="$(find ccf)/launch/cleaning/_simulation_setup.launch"/>
+
+    <!--<node pkg="ccf" type="dummy_cgv" name="my_dummy_cgv" output="screen" />-->
+    <node pkg="ccf" type="moveit_cgv_controller" name="main_controller" output="screen">
+        <param name="connection_address" type="string" value="tcp://*:6576" />
+        <param name="client_controllers" type="yaml" value="['tcp://127.0.0.1:6586']" />
+    </node>
+    <node pkg="ccf" type="dummy_cgv_controller" name="client_controller" output="screen">
+        <param name="connection_address" type="string" value="tcp://*:6586" />
+        <param name="client_controllers" type="yaml" value="[]" />
+    </node>
+</launch>

launch/cleaning/cleaning_simulated_main_dummy_client.launch

+<launch>
+    <include file="$(find ccf)/launch/cleaning/_simulation_setup.launch"/>
+
+    <!--<node pkg="ccf" type="dummy_cgv" name="my_dummy_cgv" output="screen" />-->
+    <node pkg="ccf" type="dummy_cgv_controller" name="main_controller" output="screen">
+        <param name="connection_address" type="string" value="tcp://*:6576" />
+        <param name="client_controllers" type="yaml" value="['tcp://127.0.0.1:6586']" />
+    </node>
+    <node pkg="ccf" type="moveit_cgv_controller" name="client_controller" output="screen">
+        <param name="connection_address" type="string" value="tcp://*:6586" />
+        <param name="client_controllers" type="yaml" value="[]" />
+    </node>
+</launch>