G.A. vd. Hoorn

We could introduce a separate `kuka_rsi_hw_interface_test` package that contains a minimal 6-axis urdf (no meshes, just kinematic structure, so generic for all robots) and a launch file that configures enough...

I'm not too worried about ros-industrial/ros_industrial_issues#49, I've split up a nr of repositories already. Using `git-filter-branch` it's relatively trivial. > the remaining issue then is [..] how to manage different...

I've worked on this a bit, and so far have concluded (for myself) that a separate `test` package doesn't make much sense: - the launch and yaml files would be...

@ipa-nhg: FYI. @miguelprada also.

That is a good point. Convenience `moveit_planning_execution.launch` files could be an idea, but we could also expect the user to start the driver and MoveIt seperately. At a minimum what...

@fmauch.

> We could also include moveit launchfiles into the drivers that utilize `ur_x_moveit_config` and map the correct controller. I believe that is what @miguelprada called "moveit convenience launch files".

Just a thought but it would be much simpler to do these kinds of things if it were possible to somehow "overlay" or contribute additional files to already existing packages...

> I'm pulling together an updated short "MH5" and a new long "MH5L" support package. If those are actually variants, please put them in the same package, so we avoid...

Thanks. This would indeed make a nice addition. Note though that the structure may change, so we might have to update the diagram a few times.