text: <launch>
    <arg name="visualization" default="false" doc="turns on and off visualization with rviz"/>
  
    <!-- send Panda urdf to parameter server -->
    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'" />
  
    <include file="$(find moveit_resources)/panda_moveit_config/launch/planning_context.launch"/>
  
    <node name="compare_collision_checking_speed" pkg="moveit_ros_planning" type="moveit_compare_collision_checking_speed_fcl_bullet" respawn="false" output="screen">
      <rosparam command="load" file="$(find moveit_resources)/panda_moveit_config/config/kinematics.yaml"/>
      <param name="visualization" value="$(arg visualization)" type="bool"/>
    </node>
  
    <include if="$(arg visualization)" file="$(find moveit_resources)/panda_moveit_config/launch/demo.launch"/>
  
  </launch>
  