From ba9b922cb8c5fd60efb2b273e351efa69515a0e5 Mon Sep 17 00:00:00 2001
From: rickstaa <rick.staa@outlook.com>
Date: Fri, 10 Dec 2021 16:45:16 +0100
Subject: [PATCH] style: cleanup code base

---
 .../effort_joint_trajectory_controllers.yaml  |  24 +--
 .../moveit_ros_control_gripper.yaml           |   1 -
 ...position_joint_trajectory_controllers.yaml |  16 +-
 panda_gazebo/launch/load_controllers.launch   |  58 +++----
 ...effort_joint_trajectory_controllers.launch |  14 +-
 .../load_joint_effort_controllers.launch      |  14 +-
 .../load_joint_position_controllers.launch    |  14 +-
 ...sition_joint_trajectory_controllers.launch |  14 +-
 panda_gazebo/launch/panda_rviz.launch         |  28 ++--
 panda_gazebo/launch/put_robot_in_world.launch | 157 +++++++++---------
 .../launch/start_pick_and_place_world.launch  |  24 +--
 panda_gazebo/launch/start_push_world.launch   |  24 +--
 panda_gazebo/launch/start_reach_world.launch  |  24 +--
 panda_gazebo/launch/start_simulation.launch   |  44 ++---
 panda_gazebo/launch/start_slide_world.launch  |  24 +--
 panda_gazebo/launch/start_world.launch        |  25 +--
 16 files changed, 253 insertions(+), 252 deletions(-)

diff --git a/panda_gazebo/cfg/controllers/effort_joint_trajectory_controllers.yaml b/panda_gazebo/cfg/controllers/effort_joint_trajectory_controllers.yaml
index ff9aa037..632509fe 100644
--- a/panda_gazebo/cfg/controllers/effort_joint_trajectory_controllers.yaml
+++ b/panda_gazebo/cfg/controllers/effort_joint_trajectory_controllers.yaml
@@ -1,6 +1,6 @@
 # Configuration file that contains the configuration values for setting up the panda
 # trajectory controllers that can control a joint effort hardware interface
-panda_arm_controller:
+effort_joint_trajectory_controller:
   type: effort_controllers/JointTrajectoryController
   joints:
     - panda_joint1
@@ -10,16 +10,6 @@ panda_arm_controller:
     - panda_joint5
     - panda_joint6
     - panda_joint7
-  constraints:
-    goal_time: 0.5
-    stopped_velocity_tolerance: 0 # Added because of wrong PID gains see #9
-    panda_joint1: { goal: 0.05 }
-    panda_joint2: { goal: 0.05 }
-    panda_joint3: { goal: 0.05 }
-    panda_joint4: { goal: 0.05 }
-    panda_joint5: { goal: 0.05 }
-    panda_joint6: { goal: 0.05 }
-    panda_joint7: { goal: 0.05 }
   gains:
     panda_joint1: { p: 600, d: 30, i: 0.0 }
     panda_joint2: { p: 600, d: 30, i: 0.0 }
@@ -27,4 +17,14 @@ panda_arm_controller:
     panda_joint4: { p: 600, d: 30, i: 0.0 }
     panda_joint5: { p: 250, d: 10, i: 0 }
     panda_joint6: { p: 150, d: 10, i: 0 }
-    panda_joint7: { p:  50, d:  5, i: 0 }
\ No newline at end of file
+    panda_joint7: { p:  50, d:  5, i: 0 }
+  constraints:
+    goal_time: 0.5
+    stopped_velocity_tolerance: 0 # Added because of wrong PID gains see #9
+    panda_joint1: { goal: 0.005 }
+    panda_joint2: { goal: 0.005 }
+    panda_joint3: { goal: 0.005 }
+    panda_joint4: { goal: 0.005 }
+    panda_joint5: { goal: 0.005 }
+    panda_joint6: { goal: 0.005 }
+    panda_joint7: { goal: 0.005 }
diff --git a/panda_gazebo/cfg/controllers/moveit_ros_control_gripper.yaml b/panda_gazebo/cfg/controllers/moveit_ros_control_gripper.yaml
index a105c4d7..2fffdc62 100644
--- a/panda_gazebo/cfg/controllers/moveit_ros_control_gripper.yaml
+++ b/panda_gazebo/cfg/controllers/moveit_ros_control_gripper.yaml
@@ -20,4 +20,3 @@ move_group:
       default: true
       joints:
         - panda_finger_joint1
-        - panda_finger_joint2
diff --git a/panda_gazebo/cfg/controllers/position_joint_trajectory_controllers.yaml b/panda_gazebo/cfg/controllers/position_joint_trajectory_controllers.yaml
index 0042189a..5f2ebfd8 100644
--- a/panda_gazebo/cfg/controllers/position_joint_trajectory_controllers.yaml
+++ b/panda_gazebo/cfg/controllers/position_joint_trajectory_controllers.yaml
@@ -1,6 +1,6 @@
 # Configuration file that contains the configuration values for setting up the panda
 # trajectory controllers
-panda_arm_controller:
+position_joint_trajectory_controller:
   type: position_controllers/JointTrajectoryController
   joints:
     - panda_joint1
@@ -12,10 +12,10 @@ panda_arm_controller:
     - panda_joint7
   constraints:
     goal_time: 0.5
-    panda_joint1: { goal: 0.05 }
-    panda_joint2: { goal: 0.05 }
-    panda_joint3: { goal: 0.05 }
-    panda_joint4: { goal: 0.05 }
-    panda_joint5: { goal: 0.05 }
-    panda_joint6: { goal: 0.05 }
-    panda_joint7: { goal: 0.05 }
\ No newline at end of file
+    panda_joint1: { goal: 0.005 }
+    panda_joint2: { goal: 0.005 }
+    panda_joint3: { goal: 0.005 }
+    panda_joint4: { goal: 0.005 }
+    panda_joint5: { goal: 0.005 }
+    panda_joint6: { goal: 0.005 }
+    panda_joint7: { goal: 0.005 }
\ No newline at end of file
diff --git a/panda_gazebo/launch/load_controllers.launch b/panda_gazebo/launch/load_controllers.launch
index 49f025b6..4c9f7f26 100644
--- a/panda_gazebo/launch/load_controllers.launch
+++ b/panda_gazebo/launch/load_controllers.launch
@@ -1,37 +1,37 @@
 <!--Launch file loads the control parameters and controllers-->
 <launch>
-    <arg name="moveit" default="true" />
-    <arg name="load_gripper" default="true"/>
-    <!--Control arguments-->
-    <!--    The control type used for controlling the robot (Options: Trajectory, position, effort)-->
-    <arg name="control_type" default="trajectory"/>
+  <arg name="moveit" default="true" doc="Start MoveIt"/>
+  <arg name="load_gripper" default="true" doc="Load the gripper"/>
+  <!--Control arguments-->
+  <!--    The control type used for controlling the robot (Options: Trajectory, position, effort)-->
+  <arg name="control_type" default="trajectory" doc="The type of control used for controlling the arm. Options: trajectory, position, effort"/>
 
-    <!--Load control parameters-->
-    <!--    Load general Gazebo control configuration values-->
-    <rosparam file="$(find panda_gazebo)/cfg/controllers/gazebo_ros_control.yaml" command="load" />
-    <!--    Load general ros_control configuration values-->
-    <rosparam file="$(find panda_gazebo)/cfg/controllers/ros_control.yaml" command="load"/>
-    <!--    Load Moveit control configuration values-->
-    <rosparam if="$(eval arg('moveit') and arg('load_gripper'))" file="$(find panda_gazebo)/cfg/controllers/moveit_ros_control_gripper.yaml" command="load"/>
-    <rosparam unless="$(eval arg('moveit') and arg('load_gripper'))" file="$(find panda_gazebo)/cfg/controllers/moveit_ros_control.yaml" command="load"/>
+  <!--Load control parameters-->
+  <!--    Load general Gazebo control configuration values-->
+  <rosparam file="$(find panda_gazebo)/cfg/controllers/gazebo_ros_control.yaml" command="load" />
+  <!--    Load general ros_control configuration values-->
+  <rosparam file="$(find panda_gazebo)/cfg/controllers/ros_control.yaml" command="load"/>
+  <!--    Load Moveit control configuration values-->
+  <rosparam if="$(eval arg('moveit') and arg('load_gripper'))" file="$(find panda_gazebo)/cfg/controllers/moveit_ros_control_gripper.yaml" command="load"/>
+  <rosparam unless="$(eval arg('moveit') and arg('load_gripper'))" file="$(find panda_gazebo)/cfg/controllers/moveit_ros_control.yaml" command="load"/>
 
-    <!--Load controllers-->
-    <!--Joint position controllers-->
-    <group if="$(eval arg('control_type') == 'position')">
-        <include file="$(find panda_gazebo)/launch/load_joint_position_controllers.launch"/>
-        <!--Load joint_trajectory controller in stopped mode
+  <!--Load controllers-->
+  <!--Joint position controllers-->
+  <group if="$(eval arg('control_type') == 'position')">
+    <include file="$(find panda_gazebo)/launch/load_joint_position_controllers.launch"/>
+    <!--Load joint_trajectory controller in stopped mode
             NOTE: This enabled us to set the initial robot pose using euclidean coordinates.
         -->
-        <include file="$(find panda_gazebo)/launch/load_position_joint_trajectory_controllers.launch">
-            <arg name="stopped" value="true"/>
-        </include>
-    </group>
-    <!--Joint effort controllers-->
-    <group if="$(eval arg('control_type') == 'effort')">
-        <include file="$(find panda_gazebo)/launch/load_joint_effort_controllers.launch"/>
-    </group>
-    <!--Joint_trajectory controller-->
-    <include unless="$(eval arg('control_type') == 'position')" file="$(find panda_gazebo)/launch/load_effort_joint_trajectory_controllers.launch">
-        <arg name="stopped" value="$(eval arg('control_type') == 'effort')"/>
+    <include file="$(find panda_gazebo)/launch/load_position_joint_trajectory_controllers.launch">
+      <arg name="stopped" value="true"/>
     </include>
+  </group>
+  <!--Joint effort controllers-->
+  <group if="$(eval arg('control_type') == 'effort')">
+    <include file="$(find panda_gazebo)/launch/load_joint_effort_controllers.launch"/>
+  </group>
+  <!--Joint_trajectory controller-->
+  <include unless="$(eval arg('control_type') == 'position')" file="$(find panda_gazebo)/launch/load_effort_joint_trajectory_controllers.launch">
+    <arg name="stopped" value="$(eval arg('control_type') == 'effort')"/>
+  </include>
 </launch>
\ No newline at end of file
diff --git a/panda_gazebo/launch/load_effort_joint_trajectory_controllers.launch b/panda_gazebo/launch/load_effort_joint_trajectory_controllers.launch
index 8e5466b3..60fa9d74 100755
--- a/panda_gazebo/launch/load_effort_joint_trajectory_controllers.launch
+++ b/panda_gazebo/launch/load_effort_joint_trajectory_controllers.launch
@@ -1,13 +1,13 @@
 <!-- Launch file for launching the robot controllers -->
 <launch>
-    <arg name="stopped" default="false"/>
+  <arg name="stopped" default="false" doc="Spawn the controllers in stoped mode"/>
 
-    <!--Load controller parameters-->
-    <rosparam file="$(find panda_gazebo)/cfg/controllers/effort_joint_trajectory_controllers.yaml" command="load"/>
+  <!--Load controller parameters-->
+  <rosparam file="$(find panda_gazebo)/cfg/controllers/effort_joint_trajectory_controllers.yaml" command="load"/>
 
-    <!--Load the controllers-->
-    <arg if="$(arg stopped)" name="command_args" value="--stopped"/>
-    <arg unless="$(arg stopped)" name="command_args" value=""/>
+  <!--Load the controllers-->
+  <arg if="$(arg stopped)" name="command_args" value="--stopped"/>
+  <arg unless="$(arg stopped)" name="command_args" value=""/>
 
-    <node name="effort_joint_trajectory_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg command_args) panda_arm_controller"/>
+  <node name="effort_joint_trajectory_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg command_args) panda_arm_controller"/>
 </launch>
\ No newline at end of file
diff --git a/panda_gazebo/launch/load_joint_effort_controllers.launch b/panda_gazebo/launch/load_joint_effort_controllers.launch
index c10ead6e..aaf66ad0 100755
--- a/panda_gazebo/launch/load_joint_effort_controllers.launch
+++ b/panda_gazebo/launch/load_joint_effort_controllers.launch
@@ -1,13 +1,13 @@
 <!-- Launch file for launching the robot controllers -->
 <launch>
-    <arg name="stopped" default="false"/>
+  <arg name="stopped" default="false" doc="Spawn the controllers in stoped mode"/>
 
-    <!--Load controller parameters-->
-    <rosparam file="$(find panda_gazebo)/cfg/controllers/joint_effort_controllers.yaml" command="load"/>
+  <!--Load controller parameters-->
+  <rosparam file="$(find panda_gazebo)/cfg/controllers/joint_effort_controllers.yaml" command="load"/>
 
-    <!--Load the controllers-->
-    <arg if="$(arg stopped)" name="command_args" value="--stopped"/>
-    <arg unless="$(arg stopped)" name="command_args" value="" />
-    <node name="joint_effort_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg command_args) panda_arm_joint1_effort_controller panda_arm_joint2_effort_controller
+  <!--Load the controllers-->
+  <arg if="$(arg stopped)" name="command_args" value="--stopped"/>
+  <arg unless="$(arg stopped)" name="command_args" value="" />
+  <node name="joint_effort_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg command_args) panda_arm_joint1_effort_controller panda_arm_joint2_effort_controller
         panda_arm_joint3_effort_controller panda_arm_joint4_effort_controller panda_arm_joint5_effort_controller panda_arm_joint6_effort_controller panda_arm_joint7_effort_controller"/>
 </launch>
\ No newline at end of file
diff --git a/panda_gazebo/launch/load_joint_position_controllers.launch b/panda_gazebo/launch/load_joint_position_controllers.launch
index f400d382..b375772d 100755
--- a/panda_gazebo/launch/load_joint_position_controllers.launch
+++ b/panda_gazebo/launch/load_joint_position_controllers.launch
@@ -1,13 +1,13 @@
 <!-- Launch file for launching the robot controllers -->
 <launch>
-    <arg name="stopped" default="false"/>
+  <arg name="stopped" default="false" doc="Spawn the controllers in stoped mode"/>
 
-    <!--Load controller parameters-->
-    <rosparam file="$(find panda_gazebo)/cfg/controllers/joint_position_controllers.yaml" command="load"/>
+  <!--Load controller parameters-->
+  <rosparam file="$(find panda_gazebo)/cfg/controllers/joint_position_controllers.yaml" command="load"/>
 
-    <!--Load the controllers-->
-    <arg if="$(arg stopped)" name="command_args" value="--stopped"/>
-    <arg unless="$(arg stopped)" name="command_args" value=""/>
-    <node name="joint_position_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg command_args) panda_arm_joint1_position_controller panda_arm_joint2_position_controller
+  <!--Load the controllers-->
+  <arg if="$(arg stopped)" name="command_args" value="--stopped"/>
+  <arg unless="$(arg stopped)" name="command_args" value=""/>
+  <node name="joint_position_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg command_args) panda_arm_joint1_position_controller panda_arm_joint2_position_controller
         panda_arm_joint3_position_controller panda_arm_joint4_position_controller panda_arm_joint5_position_controller panda_arm_joint6_position_controller panda_arm_joint7_position_controller"/>
 </launch>
\ No newline at end of file
diff --git a/panda_gazebo/launch/load_position_joint_trajectory_controllers.launch b/panda_gazebo/launch/load_position_joint_trajectory_controllers.launch
index 35c98d76..0780204b 100755
--- a/panda_gazebo/launch/load_position_joint_trajectory_controllers.launch
+++ b/panda_gazebo/launch/load_position_joint_trajectory_controllers.launch
@@ -1,12 +1,12 @@
 <!-- Launch file for launching the robot controllers -->
 <launch>
-    <arg name="stopped" default="false"/>
+  <arg name="stopped" default="false"/>
 
-    <!--Load controller parameters-->
-    <rosparam file="$(find panda_gazebo)/cfg/controllers/position_joint_trajectory_controllers.yaml" command="load"/>
+  <!--Load controller parameters-->
+  <rosparam file="$(find panda_gazebo)/cfg/controllers/position_joint_trajectory_controllers.yaml" command="load"/>
 
-    <!--Load the controllers-->
-    <arg if="$(arg stopped)" name="command_args" value="--stopped"/>
-    <arg unless="$(arg stopped)" name="command_args" value=""/>
-    <node name="position_joint_trajectory_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg command_args) panda_arm_controller"/>
+  <!--Load the controllers-->
+  <arg if="$(arg stopped)" name="command_args" value="--stopped"/>
+  <arg unless="$(arg stopped)" name="command_args" value=""/>
+  <node name="position_joint_trajectory_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg command_args) panda_arm_controller"/>
 </launch>
\ No newline at end of file
diff --git a/panda_gazebo/launch/panda_rviz.launch b/panda_gazebo/launch/panda_rviz.launch
index 631321e4..86e4fea9 100755
--- a/panda_gazebo/launch/panda_rviz.launch
+++ b/panda_gazebo/launch/panda_rviz.launch
@@ -1,18 +1,18 @@
 <!-- Launch file for loading RVIZ -->
 <launch>
-    <!-- GDB Debug Option -->
-    <arg name="debug" default="false"/>
-    <arg unless="$(arg debug)" name="launch_prefix" value=""/>
-    <arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args"/>
-    <!-- rviz launch arguments -->
-    <arg name="moveit" default="false" />
-    <arg unless="$(arg moveit)" name="rviz_file_default" value="$(find panda_gazebo)/launch/includes/rviz/panda.rviz"/>
-    <arg if="$(arg moveit)" name="rviz_file_default" value="$(find panda_gazebo)/launch/includes/rviz/panda_moveit.rviz"/>
-    <arg name="rviz_file" default="$(arg rviz_file_default)"/>
-    <arg name="command_args" value="-d $(arg rviz_file)" />
+  <!-- GDB Debug Option -->
+  <arg name="debug" default="false" doc="Add gdb debug flag"/>
+  <arg unless="$(arg debug)" name="launch_prefix" value=""/>
+  <arg if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args"/>
+  <!-- rviz launch arguments -->
+  <arg name="moveit" default="false" doc="Start MoveIt"/>
+  <arg unless="$(arg moveit)" name="rviz_file_default" value="$(find panda_gazebo)/launch/includes/rviz/panda.rviz"/>
+  <arg if="$(arg moveit)" name="rviz_file_default" value="$(find panda_gazebo)/launch/includes/rviz/panda_moveit.rviz"/>
+  <arg name="rviz_file" default="$(arg rviz_file_default)" doc="Path to the Rviz configuration file"/>
+  <arg name="command_args" value="-d $(arg rviz_file)" />
 
-    <!-- launch rviz -->
-    <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false" args="$(arg command_args)" output="screen">
-        <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
-    </node>
+  <!-- launch rviz -->
+  <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false" args="$(arg command_args)" output="screen">
+    <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/>
+  </node>
 </launch>
\ No newline at end of file
diff --git a/panda_gazebo/launch/put_robot_in_world.launch b/panda_gazebo/launch/put_robot_in_world.launch
index a3655ae1..2a382c0b 100644
--- a/panda_gazebo/launch/put_robot_in_world.launch
+++ b/panda_gazebo/launch/put_robot_in_world.launch
@@ -1,90 +1,89 @@
 <!--Launch file for adding the panda robot to the gazebo world-->
-<!--TODO: Cleanup when panda_moveit_config noetic-branch is released-->
 <launch>
-    <arg name="rviz" default="true"/>
-    <arg name="load_gripper" default="true"/>
-    <arg name="debug" default="false"/>
-    <!--Moveit arguments-->
-    <arg name="moveit" default="true"/>
-    <arg name="rviz_file" default=""/>
-    <arg name="pipeline" default="ompl"/>
-    <arg name="end_effector" default="panda_link8"/>
-    <arg name="max_velocity_scaling_factor" default="1.0"/>
-    <arg name="max_acceleration_scaling_factor" default="1.0"/>
-    <!-- Gazebo specific options -->
-    <arg name="world" default="$(find panda_gazebo)/resources/worlds/empty.world"/>
-    <arg name="gazebo" default="false"/>
-    <arg name="gazebo_gui" default="true"/>
-    <arg name="paused" default="false"/>
-    <arg name="x" default="0"/>
-    <arg name="y" default="0"/>
-    <arg name="z" default="0"/>
-    <arg name="roll" default="0"/>
-    <arg name="pitch" default="0"/>
-    <arg name="yaw" default="0"/>
-    <!--Control arguments-->
-    <!--    The control type used for controlling the robot (Options: Trajectory, position, effort)-->
-    <arg name="control_type" default="trajectory"/>
-    <arg name="brute_force_grasping" default="false" doc="Disable the gripper width reached check when grasping."/>
+  <arg name="rviz" default="true" doc="Start Rviz"/>
+  <arg name="load_gripper" default="true" doc="Load the gripper"/>
+  <arg name="debug" default="false" value="gdb --ex run --args"/>
+  <!--Moveit arguments-->
+  <arg name="moveit" default="true" doc="Start MoveIt"/>
+  <arg name="rviz_file" default="" doc="Path to the Rviz configuration file"/>
+  <arg name="pipeline" default="ompl" doc="MoveIt planning pipeline"/>
+  <arg name="end_effector" default="panda_link8" doc="The end effector link"/>
+  <arg name="max_velocity_scaling_factor" default="1.0" doc="Factor used when scaling the MoveIt plan velocity"/>
+  <arg name="max_acceleration_scaling_factor" default="1.0" doc="Factor used when scaling the MoveIt plan acceleration"/>
+  <!-- Gazebo specific options -->
+  <arg name="world" default="$(find panda_gazebo)/resources/worlds/empty.world" doc="Path to the world file"/>
+  <arg name="gazebo" default="false" doc="Start Gazebo"/>
+  <arg name="paused" default="false" doc="Start gazebo paused"/>
+  <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
+  <arg name="x" default="0" doc="How far forward to place the base of the robot in [m]?"/>
+  <arg name="y" default="0" doc="How far leftwards to place the base of the robot in [m]?"/>
+  <arg name="z" default="0" doc="How far upwards to place the base of the robot in [m]?"/>
+  <arg name="roll" default="0" doc="How much to rotate the base of the robot around its X-axis in [rad]?"/>
+  <arg name="pitch" default="0" doc="How much to rotate the base of the robot around its Y-axis in [rad]?"/>
+  <arg name="yaw" default="0" doc="How much to rotate the base of the robot around its Z-axis in [rad]?"/>
+  <!--Control arguments-->
+  <!--    The control type used for controlling the robot (Options: Trajectory, position, effort)-->
+  <arg name="control_type" default="trajectory" doc="The type of control used for controlling the arm. Options: trajectory, position, effort"/>
+  <arg name="brute_force_grasping" default="false" doc="Disable the gripper width reached check when grasping."/>
 
-    <!--Retrieve the right hardware_interface for the control type-->
-    <arg if="$(eval arg('control_type') == 'position')" name="hardware_interface" value="position"/>
-    <arg unless="$(eval arg('control_type') == 'position')" name="hardware_interface" value="effort"/>
+  <!--Retrieve the right transmission for the control type-->
+  <arg if="$(eval arg('control_type') == 'position')" name="transmission" value="position"/>
+  <arg unless="$(eval arg('control_type') == 'position')" name="transmission" value="effort"/>
 
-    <!--Spawn the Panda robot-->
-    <include file="$(find franka_gazebo)/launch/panda.launch">
-        <arg name="gazebo" value="$(arg gazebo)"/>
-        <arg unless="$(arg gazebo_gui)" name="headless" value="true"/>
-        <arg if="$(arg gazebo_gui)" name="headless" value="false"/>
-        <arg name="paused" value="$(arg paused)"/>
-        <arg name="world" value="$(arg world)"/>
-        <arg name="use_gripper" default="$(arg load_gripper)"/>
-        <arg name="transmission" value="$(arg hardware_interface)"/>
-        <arg name="x" value="$(arg x)"/>
-        <arg name="y" value="$(arg y)"/>
-        <arg name="z" value="$(arg z)"/>
-        <arg name="roll" value="$(arg roll)"/>
-        <arg name="pitch" value="$(arg pitch)"/>
-        <arg name="yaw" value="$(arg yaw)" />
-    </include>
+  <!--Spawn the Panda robot-->
+  <include file="$(find franka_gazebo)/launch/panda.launch">
+    <arg name="gazebo" value="$(arg gazebo)"/>
+    <arg unless="$(arg gazebo_gui)" name="headless" value="true"/>
+    <arg if="$(arg gazebo_gui)" name="headless" value="false"/>
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="world" value="$(arg world)"/>
+    <arg name="use_gripper" default="$(arg load_gripper)"/>
+    <arg name="transmission" value="$(arg transmission)"/>
+    <arg name="x" value="$(arg x)"/>
+    <arg name="y" value="$(arg y)"/>
+    <arg name="z" value="$(arg z)"/>
+    <arg name="roll" value="$(arg roll)"/>
+    <arg name="pitch" value="$(arg pitch)"/>
+    <arg name="yaw" value="$(arg yaw)" />
+  </include>
 
-    <!--Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default)-->
-    <include if="$(arg moveit)" file="$(find panda_moveit_config)/launch/move_group.launch">
-        <arg name="info" value="true"/>
-        <arg name="debug" value="$(arg debug)"/>
-        <arg name="pipeline" value="$(arg pipeline)" />
-        <arg name="allow_trajectory_execution" value="true"/>
-        <arg name="fake_execution" value="false"/>
-        <arg name="load_gripper" value="$(arg load_gripper)"/>
-        <arg name="load_robot_description" value="false"/>
-    </include>
+  <!--Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default)-->
+  <include if="$(arg moveit)" file="$(find panda_moveit_config)/launch/move_group.launch">
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="pipeline" value="$(arg pipeline)" />
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="false"/>
+    <arg name="load_gripper" value="$(arg load_gripper)"/>
+    <arg name="load_robot_description" value="false"/>
+  </include>
 
-    <!--Load Moveit configuration values-->
-    <rosparam if="$(arg moveit)" file="$(find panda_gazebo)/cfg/controllers/moveit.yaml" command="load" />
+  <!--Load Moveit configuration values-->
+  <rosparam if="$(arg moveit)" file="$(find panda_gazebo)/cfg/controllers/moveit.yaml" command="load" />
 
-    <!--Load and start the controllers-->
-    <include file="$(find panda_gazebo)/launch/load_controllers.launch">
-        <arg name="moveit" default="$(arg moveit)"/>
-        <arg name="control_type" value="$(arg control_type)"/>
-        <arg name="load_gripper" value="$(arg load_gripper)"/>
-    </include>
+  <!--Load and start the controllers-->
+  <include file="$(find panda_gazebo)/launch/load_controllers.launch">
+    <arg name="moveit" default="$(arg moveit)"/>
+    <arg name="control_type" value="$(arg control_type)"/>
+    <arg name="load_gripper" value="$(arg load_gripper)"/>
+  </include>
 
-    <!--Load Moveit control services-->
-    <node if="$(arg moveit)" pkg="panda_gazebo" type="panda_moveit_server.py" name="panda_moveit_planner_server" required="true" args="">
-        <param name="end_effector" value="$(arg end_effector)"/>
-        <param name="max_velocity_scaling_factor" value="$(arg max_velocity_scaling_factor)"/>
-        <param name="max_acceleration_scaling_factor" value="$(arg max_acceleration_scaling_factor)"/>
-    </node>
+  <!--Load Moveit control services-->
+  <node if="$(arg moveit)" pkg="panda_gazebo" type="panda_moveit_server.py" name="panda_moveit_planner_server" required="true" args="">
+    <param name="end_effector" value="$(arg end_effector)"/>
+    <param name="max_velocity_scaling_factor" value="$(arg max_velocity_scaling_factor)"/>
+    <param name="max_acceleration_scaling_factor" value="$(arg max_acceleration_scaling_factor)"/>
+  </node>
 
-    <!--Load ros_control service-->
-    <node pkg="panda_gazebo" type="panda_control_server.py" name="panda_control_server" required="true">
-        <param name="brute_force_grasping" value="$(arg brute_force_grasping)"/>
-    </node>
+  <!--Load ros_control service-->
+  <node pkg="panda_gazebo" type="panda_control_server.py" name="panda_control_server" required="true">
+    <param name="brute_force_grasping" value="$(arg brute_force_grasping)"/>
+  </node>
 
-    <!--Load RViz-->
-    <include if="$(arg rviz)" file="$(find panda_gazebo)/launch/panda_rviz.launch">
-        <arg name="debug" value="$(arg debug)"/>
-        <arg name="moveit" value="$(arg moveit)"/>
-        <arg if="$(eval arg('rviz_file') != '')" name="rviz_file" value="$(arg rviz_file)"/>
-    </include>
+  <!--Load RViz-->
+  <include if="$(arg rviz)" file="$(find panda_gazebo)/launch/panda_rviz.launch">
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="moveit" value="$(arg moveit)"/>
+    <arg if="$(eval arg('rviz_file') != '')" name="rviz_file" value="$(arg rviz_file)"/>
+  </include>
 </launch>
\ No newline at end of file
diff --git a/panda_gazebo/launch/start_pick_and_place_world.launch b/panda_gazebo/launch/start_pick_and_place_world.launch
index 717bb8d4..fefb129c 100644
--- a/panda_gazebo/launch/start_pick_and_place_world.launch
+++ b/panda_gazebo/launch/start_pick_and_place_world.launch
@@ -1,16 +1,16 @@
 <!-- Launch file for starting the grasp gazebo environment -->
 <launch>
-    <!--Simulation arguments-->
-    <arg name="world" default="$(find panda_gazebo)/resources/worlds/pick_and_place.world"/>
-    <arg name="paused" default="true" />
-    <arg name="gazebo_gui" default="true" />
-    <arg name="verbose" default="true"/>
+  <!--Simulation arguments-->
+  <arg name="world" value="$(find panda_gazebo)/resources/worlds/pick_and_place.world"/>
+  <arg name="paused" default="true" doc="Start gazebo paused"/>
+  <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
+  <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
 
-    <!--Start the gazebo world-->
-    <include file="$(find panda_gazebo)/launch/start_world.launch">
-        <arg name="world" value="$(arg world)"/>
-        <arg name="verbose" value="$(arg verbose)"/>
-        <arg name="paused" value="$(arg paused)"/>
-        <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
-    </include>
+  <!--Start the gazebo world-->
+  <include file="$(find panda_gazebo)/launch/start_world.launch">
+    <arg name="world" value="$(arg world)"/>
+    <arg name="verbose" value="$(arg verbose)"/>
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
+  </include>
 </launch>
\ No newline at end of file
diff --git a/panda_gazebo/launch/start_push_world.launch b/panda_gazebo/launch/start_push_world.launch
index 817909a5..8c07c6f8 100644
--- a/panda_gazebo/launch/start_push_world.launch
+++ b/panda_gazebo/launch/start_push_world.launch
@@ -1,16 +1,16 @@
 <!-- Launch file for starting the push gazebo environment -->
 <launch>
-    <!--Simulation arguments-->
-    <arg name="world" default="$(find panda_gazebo)/resources/worlds/push.world"/>
-    <arg name="paused" default="true" />
-    <arg name="gazebo_gui" default="true" />
-    <arg name="verbose" default="true"/>
+  <!--Simulation arguments-->
+  <arg name="world" value="$(find panda_gazebo)/resources/worlds/push.world"/>
+  <arg name="paused" default="true" doc="Start gazebo paused"/>
+  <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
+  <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
 
-    <!--Start the gazebo world-->
-    <include file="$(find panda_gazebo)/launch/start_world.launch">
-        <arg name="world" value="$(arg world)"/>
-        <arg name="verbose" value="$(arg verbose)"/>
-        <arg name="paused" value="$(arg paused)"/>
-        <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
-    </include>
+  <!--Start the gazebo world-->
+  <include file="$(find panda_gazebo)/launch/start_world.launch">
+    <arg name="world" value="$(arg world)"/>
+    <arg name="verbose" value="$(arg verbose)"/>
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
+  </include>
 </launch>
\ No newline at end of file
diff --git a/panda_gazebo/launch/start_reach_world.launch b/panda_gazebo/launch/start_reach_world.launch
index e9a3dddc..5d73d92b 100644
--- a/panda_gazebo/launch/start_reach_world.launch
+++ b/panda_gazebo/launch/start_reach_world.launch
@@ -1,16 +1,16 @@
 <!-- Launch file for starting the reach gazebo environment -->
 <launch>
-    <!--Simulation arguments-->
-    <arg name="world" default="$(find panda_gazebo)/resources/worlds/reach.world"/>
-    <arg name="paused" default="true"/>
-    <arg name="gazebo_gui" default="true"/>
-    <arg name="verbose" default="true"/>
+  <!--Simulation arguments-->
+  <arg name="world" value="$(find panda_gazebo)/resources/worlds/reach.world"/>
+  <arg name="paused" default="true" doc="Start gazebo paused"/>
+  <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
+  <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
 
-    <!--Start the gazebo world-->
-    <include file="$(find panda_gazebo)/launch/start_world.launch">
-        <arg name="world" value="$(arg world)"/>
-        <arg name="verbose" value="$(arg verbose)"/>
-        <arg name="paused" value="$(arg paused)"/>
-        <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
-    </include>
+  <!--Start the gazebo world-->
+  <include file="$(find panda_gazebo)/launch/start_world.launch">
+    <arg name="world" value="$(arg world)"/>
+    <arg name="verbose" value="$(arg verbose)"/>
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
+  </include>
 </launch>
\ No newline at end of file
diff --git a/panda_gazebo/launch/start_simulation.launch b/panda_gazebo/launch/start_simulation.launch
index 38f65c3e..2739a3ef 100755
--- a/panda_gazebo/launch/start_simulation.launch
+++ b/panda_gazebo/launch/start_simulation.launch
@@ -1,26 +1,28 @@
 <!--Starts the panda gazebo simulation-->
 <launch>
-    <arg name="rviz" default="true"/>
-    <arg name="moveit" default="true"/>
-    <!--Simulation arguments-->
-    <arg name="world" default="$(find panda_gazebo)/resources/worlds/empty.world"/>
-    <arg name="paused" default="true"/>
-    <arg name="gazebo_gui" default="true"/>
-    <!--Control arguments-->
-    <!--    The control type used for controlling the robot (Options: Trajectory, position, effort)-->
-    <arg name="control_type" default="effort"/>
+  <arg name="rviz" default="true" doc="Start Rviz"/>
+  <arg name="moveit" default="true" doc="Start MoveIt"/>
+  <!--Simulation arguments-->
+  <arg name="world" default="$(find panda_gazebo)/resources/worlds/empty.world" doc="Path to the world file"/>
+  <arg name="paused" default="true" doc="Start gazebo paused"/>
+  <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
+  <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
+  <!--Control arguments-->
+  <!--    The control type used for controlling the robot (Options: Trajectory, position, effort)-->
+  <arg name="control_type" default="effort" doc="The type of control used for controlling the arm. Options: trajectory, position, effort"/>
 
-    <!--Launch gazebo environment-->
-    <include file="$(find panda_gazebo)/launch/start_world.launch">
-        <arg name="world" value="$(arg world)"/>
-        <arg name="paused" value="$(arg paused)"/>
-        <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
-    </include>
+  <!--Launch gazebo environment-->
+  <include file="$(find panda_gazebo)/launch/start_world.launch">
+    <arg name="world" value="$(arg world)"/>
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="verbose" value="$(arg verbose)"/>
+    <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
+  </include>
 
-    <!--Put the robot into the simulation-->
-    <include file="$(find panda_gazebo)/launch/put_robot_in_world.launch">
-        <arg name="rviz" value="$(arg rviz)"/>
-        <arg name="moveit" value="$(arg moveit)"/>
-        <arg name="control_type" value="$(arg control_type)"/>
-    </include>
+  <!--Put the robot into the simulation-->
+  <include file="$(find panda_gazebo)/launch/put_robot_in_world.launch">
+    <arg name="rviz" value="$(arg rviz)"/>
+    <arg name="moveit" value="$(arg moveit)"/>
+    <arg name="control_type" value="$(arg control_type)"/>
+  </include>
 </launch>
\ No newline at end of file
diff --git a/panda_gazebo/launch/start_slide_world.launch b/panda_gazebo/launch/start_slide_world.launch
index 5d665d72..1aaa1d50 100644
--- a/panda_gazebo/launch/start_slide_world.launch
+++ b/panda_gazebo/launch/start_slide_world.launch
@@ -1,16 +1,16 @@
 <!-- Launch file for starting the grasp gazebo environment -->
 <launch>
-    <!--Simulation arguments-->
-    <arg name="world" default="$(find panda_gazebo)/resources/worlds/slide.world"/>
-    <arg name="paused" default="true" />
-    <arg name="gazebo_gui" default="true" />
-    <arg name="verbose" default="true"/>
+  <!--Simulation arguments-->
+  <arg name="world" value="$(find panda_gazebo)/resources/worlds/slide.world"/>
+  <arg name="paused" default="true" doc="Start gazebo paused"/>
+  <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
+  <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
 
-    <!--Start the gazebo world-->
-    <include file="$(find panda_gazebo)/launch/start_world.launch">
-        <arg name="world" value="$(arg world)"/>
-        <arg name="verbose" value="$(arg verbose)"/>
-        <arg name="paused" value="$(arg paused)"/>
-        <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
-    </include>
+  <!--Start the gazebo world-->
+  <include file="$(find panda_gazebo)/launch/start_world.launch">
+    <arg name="world" value="$(arg world)"/>
+    <arg name="verbose" value="$(arg verbose)"/>
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
+  </include>
 </launch>
\ No newline at end of file
diff --git a/panda_gazebo/launch/start_world.launch b/panda_gazebo/launch/start_world.launch
index a414c023..b4db3500 100644
--- a/panda_gazebo/launch/start_world.launch
+++ b/panda_gazebo/launch/start_world.launch
@@ -1,16 +1,17 @@
 <!-- Launch file for starting the empty gazebo environment -->
 <launch>
-    <!--Simulation arguments-->
-    <arg name="world" default="$(find panda_gazebo)/resources/worlds/empty.world"/>
-    <arg name="paused" default="true"/>
-    <arg name="verbose" default="false"/>
-    <arg name="gazebo_gui" default="true"/>
+  <!--Simulation arguments-->
+  <arg name="world" default="$(find panda_gazebo)/resources/worlds/empty.world" doc="Path to the world file"/>
+  <arg name="paused" default="true" doc="Start gazebo paused"/>
+  <arg name="verbose" default="false" doc="Enable Gazebo verbose mode"/>
+  <arg name="gazebo_gui" default="true" doc="Start the gazebo GUI"/>
 
-    <!--Start the gazebo world-->
-    <include file="$(find gazebo_ros)/launch/empty_world.launch">
-        <arg name="world_name" value="$(arg world)"/>
-        <arg name="verbose" value="$(arg verbose)"/>
-        <arg name="paused" value="$(arg paused)"/>
-        <arg name="gui" value="$(arg gazebo_gui)"/>
-    </include>
+  <!--Start the gazebo world-->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" value="$(arg world)"/>
+    <arg name="verbose" value="$(arg verbose)"/>
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="gui" value="$(arg gazebo_gui)"/>
+    <arg name="physics" value="$(arg physics)"/>
+  </include>
 </launch>
\ No newline at end of file