Migration to BT.cpp v4 & new BT executor

rbs_bringup/launch/rbs_robot.launch.py

@@ -132,7 +132,8 @@ def launch_setup(context, *args, **kwargs):
             robot_description_semantic,
             robot_description_kinematics,
             {'use_sim_time': use_sim_time}
-        ]
+        ],
+        condition=IfCondition(launch_rviz)
     )
 
     rviz = Node(
@@ -231,11 +232,17 @@ def launch_setup(context, *args, **kwargs):
         }.items(),
         condition=IfCondition(launch_perception))
 
+    asm_config = Node(
+        package="rbs_utils",
+        executable="assembly_config_service.py"
+    )
+
     nodes_to_start = [
         robot_state_publisher,
         control,
         moveit,
         skills,
+        asm_config,
         # task_planner,
         # perception,
         rviz