In mur_moveit_config/launch/move_group.launch launched by start_moveit_620.launch:
- false robot description is used for planning_context.launch etc. has to use mur620.srdf.xacro instead of mur.srdf.xacro (only for mur620, for mur100 ok)
- right now just disabled in sub package
- see match_mobile_robotics/ur/ur_ros_driver/ur_robot_driver/launch/ur_common.launch
tool0_controller tf is now remapped to /tf_old
- -> change name from UR10_r/base -> UR10_r/tool0_controller to /mur620/UR10_r/... and publish to /tf
- to 0 or fixed
- otherwise always warning from move_group
prob. have to set in mir_launch_sim:
```
<remap to="cmd_vel" from="mobile_base_controller/cmd_vel"/>
<remap from="odom" to="mobile_base_controller/odom"/>
```