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.

rbs_bt_executor/src/MoveToPose.cpp

@@ -11,27 +11,37 @@ class MoveToPose : public RosActionNode<MoveitSendPoseAction> {
 public:
   MoveToPose(const std::string &name, const NodeConfig &conf,
              const RosNodeParams &params)
-      : RosActionNode<MoveitSendPoseAction>(name, conf, params) {}
+      : RosActionNode<MoveitSendPoseAction>(name, conf, params) {
+
+    RCLCPP_INFO(this->logger(), "Starting MoveToPose");
+  }
 
   static BT::PortsList providedPorts() {
     return providedBasicPorts(
         {BT::InputPort<std::string>("robot_name"),
-         BT::InputPort<std::shared_ptr<geometry_msgs::msg::Pose>>("pose")});
+         BT::InputPort<std::shared_ptr<geometry_msgs::msg::Pose>>("pose"),
+         BT::InputPort<double>("duration")});
   }
 
   bool setGoal(RosActionNode::Goal &goal) override {
+    RCLCPP_INFO(this->logger(), "Starting send request");
     getInput("robot_name", goal.robot_name);
-    getInput("pose", goal.target_pose);
-    goal.duration = 2.0;
+    getInput("pose", m_target_pose);
+    getInput("duration", goal.duration);
+    goal.target_pose = *m_target_pose;
     return true;
   }
 
   NodeStatus onResultReceived(const WrappedResult &wr) override {
+
+    RCLCPP_INFO(this->logger(), "Starting get response");
     if (!wr.result->success) {
       return NodeStatus::FAILURE;
     }
     return NodeStatus::SUCCESS;
   }
+private:
+  std::shared_ptr<geometry_msgs::msg::Pose> m_target_pose;
 };
 
 CreateRosNodePlugin(MoveToPose, "MoveToPose");