- Unify move_to.launch.py and test_task_model.launch.py
- Rename them to test.launch.py as they are independent of the executable
- Move Node creation to the fixture constructor
- Replace Task::setRobotModel(loadModel()) with Task::loadRobotModel()
never unload the plugin loader before the plugins (IK plugins here).
We don't have unrelated loaders in gtest executables, so the static should be fine.