def METHOD_NAME():
    return LaunchDescription([
        launch.actions.DeclareLaunchArgument('moveit2_config_pkg',
                                              default_value = ['ur5_workcell_moveit2_config']),
        launch.actions.DeclareLaunchArgument('xacro_file', default_value = [ os.path.join(get_package_share_directory('robot_workcell_support'),
                                                                                          'urdf','ur5_workcell.xacro')]),
        launch.actions.DeclareLaunchArgument('srdf_file', default_value = [os.path.join(get_package_share_directory('ur5_workcell_moveit2_config'),
                                                                                          'config','ur5_workcell.srdf')]),
        launch.actions.DeclareLaunchArgument('ur_type',
                                             default_value = 'ur5',
                                             description = 'Type/series of used UR robot. Choices=[\'ur3\', \'ur3e\', \'ur5\', \'ur5e\', \'ur10\', \'ur10e\', \'ur16e\']'),
        OpaqueFunction(function = launch_setup)
        ])