def generate_demo_launch(moveit_config):
    """
    Launches a self contained demo
    Includes
     * static_virtual_joint_tfs
     * robot_state_publisher
     * move_group
     * moveit_rviz
     * warehouse_db (optional)
     * ros2_control_node + controller spawners
    """
    ld = LaunchDescription()
    ld.add_action(
        DeclareBooleanLaunchArg(
            "db",
            default_value=False,
            description="By default, we do not start a database (it can be large)",
        )
    )
    ld.add_action(
        DeclareBooleanLaunchArg(
            "debug",
            default_value=False,
            description="By default, we are not in debug mode",
        )
    )
    ld.add_action(DeclareBooleanLaunchArg("use_rviz", default_value=True))

    # If there are virtual joints, broadcast static tf by including virtual_joints launch
    virtual_joints_launch = (
        moveit_config.package_path / "launch/static_virtual_joint_tfs.launch.py"
    )
    if virtual_joints_launch.exists():
        ld.add_action(
            IncludeLaunchDescription(
                PythonLaunchDescriptionSource(str(virtual_joints_launch)),
            )
        )

    # Given the published joint states, publish tf for the robot links
    ld.add_action(
        IncludeLaunchDescription(
            PythonLaunchDescriptionSource(
                str(moveit_config.package_path / "launch/rsp.launch.py")
            ),
        )
    )

    ld.add_action(
        IncludeLaunchDescription(
            PythonLaunchDescriptionSource(
                str(moveit_config.package_path / "launch/move_group.launch.py")
            ),
        )
    )

    # Run Rviz and load the default config to see the state of the move_group node
    ld.add_action(
        IncludeLaunchDescription(
            PythonLaunchDescriptionSource(
                str(moveit_config.package_path / "launch/moveit_rviz.launch.py")
            ),
            condition=IfCondition(LaunchConfiguration("use_rviz")),
        )
    )

    # If database loading was enabled, start mongodb as well
    ld.add_action(
        IncludeLaunchDescription(
            PythonLaunchDescriptionSource(
                str(moveit_config.package_path / "launch/warehouse_db.launch.py")
            ),
            condition=IfCondition(LaunchConfiguration("db")),
        )
    )

    # Fake joint driver
    ld.add_action(
        Node(
            package="controller_manager",
            executable="ros2_control_node",
            parameters=[
                moveit_config.robot_description,
                str(moveit_config.package_path / "config/ros2_controllers.yaml"),
            ],
        )
    )

    ld.add_action(
        IncludeLaunchDescription(
            PythonLaunchDescriptionSource(
                str(moveit_config.package_path / "launch/spawn_controllers.launch.py")
            ),
        )
    )

    return ld