ROS/catkin_ws/src/lstrobot_planning/launch/start_ur5.launch

<launch>
  <arg name="limited" default="false" />
  <arg name="config" default="true"/>

  <!-- Launch ur5_bringup -->
  <include file="$(find ur_modern_driver)/launch/ur5_bringup.launch">
  </include>


  <!-- Launch moveit -->
  <include file="$(find ur5_moveit_config)/launch/ur5_moveit_planning_execution.launch">
    <arg name="limited" default="$(arg limited)"/>
  </include>

  <!--start rviz  -->
  <include file="$(find ur5_moveit_config)/launch/moveit_rviz.launch">
    <arg name="config" default="$(arg config)"/>
  </include>

</launch>