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I know you're not using a PR2, but it may be helpful to look at what we launch in our PR2 manipulation pipeline: pr2_tabletop_manipulation.launch in package pr2_tabletop_manipulation_launch which includes pr2_manipulation_prerequisites.launch and pr2_manipulation.launch from pr2_object_manipulation_launch the first of which includes laser+stereo-perception.launch (also in pr2_object_manipulation_launch) which runs collider_node in package collider, which generates and dynamically maintains the octomap, which is what we use in Electric instead of the old static collision maps. (The launch file you were looking for that is not there, is not there for a reason.) All of the above launch files contain stuff that you probably want to use for your robot.