[launch] Add execute trajectory and planner launch files

launch/execute_trajectory.launch

@@ -0,0 +1,12 @@
+<launch>
+  <arg name="rate" default="10" />
+  <arg name="namespace" default="$(env UAV_NAMESPACE)" />
+
+  <group ns="$(arg namespace)">
+    <node name="execute_trajectory" pkg="uav_frontier_exploration_3d" 
+      type="execute_trajectory_state_machine.py" output="screen" />
+      <param name="radius_trajectory_executed" value="0.7"/>
+      <param name="feedback_collection_time" value="1.0"/>
+      <param name="rate" value="$(arg rate)"/>
+  </group>
+</launch>

launch/planner.launch

@@ -0,0 +1,21 @@
+<launch>
+  <arg name="rate" default="10" />
+  <arg name="namespace" default="$(env UAV_NAMESPACE)" />
+  <arg name="slam_ns" default="map"/>
+
+  <group ns="$(arg namespace)">
+    <node name="generate_toppra_trajectory" pkg="topp_ros" type="generate_toppra_trajectory.py" output="screen" />
+
+    <node name="global_planner" pkg="larics_motion_planning" type="global_planner_node" output="screen">
+      <param name="rate" value="$(arg rate)" />
+      <param name="global_planner_config_file" value="$(find uav_frontier_exploration_3d)/config/kopterworx_config.yaml" />
+      <remap from="/octomap_binary" to="octomap_binary"/>
+    </node>
+
+    <node name="joint_trajectory_to_multi_dof_trajectory_point" pkg="larics_motion_planning" type="joint_trajectory_to_multi_dof_trajectory_point.py">
+      <param name="rate" value="100" />
+      <remap from="trajectory_point_ref" to="position_hold/trajectory" />
+    </node>
+   <node name="map_transform" pkg="tf" type="static_transform_publisher" args="0 0 0 0 0 0 world $(arg namespace)/$(arg slam_ns)/map 100" />
+  </group>
+</launch>