runtime/rbs_utils/rbs_utils_interfaces/srv/GetGraspPose.srv

string model_name
---
geometry_msgs/Pose grasp_pose
geometry_msgs/Pose pregrasp_pose
geometry_msgs/Pose postgrasp_pose
bool ok
Migration to BT.cpp v4 & new BT executor 2024-07-04 12:11:07 +00:00			`string model_name`
			`---`
Enhance grasping task handling and behavior tree configurations - Improved `get_grasp_pose_callback` with regex for grasp pose matching and added fallback mechanisms for `pregrasp_pose` and `postgrasp_pose`. - Introduced `_create_pose_msg` and `_create_pose_msg_from_name` helper functions for dynamic transform-to-pose conversion. - Updated `GetGraspPose.srv` to include `pregrasp_pose` and `postgrasp_pose` in the service response structure. - Enhanced TF listener integration in `assembly_config_service.py` for dynamic pose retrieval and parameter management. - Added `rbs_utils_interfaces` dependency in `CMakeLists.txt` and introduced new `GetGraspPose` node for behavior tree integration. - Replaced `MoveGripper` with `GripperCommand` to improve gripper state transitions. - Refactored `MoveToPose` and `GetWorkspace` nodes for enhanced logging and parameter handling. - Updated `workspace_movement.xml` and `grasp_object.xml` with improved actions and configurations. 2024-12-13 17:26:29 +03:00			`geometry_msgs/Pose grasp_pose`
			`geometry_msgs/Pose pregrasp_pose`
			`geometry_msgs/Pose postgrasp_pose`
Migration to BT.cpp v4 & new BT executor 2024-07-04 12:11:07 +00:00			`bool ok`