moveit_planning_execution.launch

<launch>
 # The planning and execution components of MoveIt! configured to
 # publish the current configuration of the robot (simulated or real)
 # and the current state of the world as seen by the planner
 <include file="$(find meka_moveit)/launch/move_group.launch">
  <arg name="publish_monitored_planning_scene" value="true" />
 </include>
 # The visualization component of MoveIt!
 <include file="$(find meka_moveit)/launch/moveit_rviz.launch"/>
</launch>