update README and update launch files

env_manager/CMakeLists.txt

@@ -68,12 +68,12 @@ if(NOT WIN32)
     "${ament_cmake_package_templates_ENVIRONMENT_HOOK_LIBRARY_PATH}")
 endif()
 
-add_executable(main
+add_executable(env_manager_node
     src/main.cpp
     )
-target_link_libraries(main env_manager lua glog)
+target_link_libraries(env_manager_node env_manager lua glog)
 ament_target_dependencies(
-    main
+    env_manager_node
     Boost
     rcl
     rclcpp
@@ -96,7 +96,7 @@ install(
 )
 
 install(
-    TARGETS main
+    TARGETS env_manager_node
     DESTINATION lib/${PROJECT_NAME}
     )
 

env_manager/README.md

@@ -142,8 +142,8 @@ return ENV_MANAGER
 ```
 Start env_manager
 ```bash
-cd ${WS_DIR} && .install/setup.bash
-./install/env_manager/lib/env_manager/main
+source install/setup.bash
+ros2 run env_manager env_manager_node
 ```
 ### License
 Distributed under the Apache 2.0 License. See LICENSE for more information.

rbs_bringup/launch/bringup.launch.py

@@ -161,10 +161,10 @@ def generate_launch_description():
         DeclareLaunchArgument("sim_fake", default_value="false", description="Mock contollers")
     )
     declared_arguments.append(
-        DeclareLaunchArgument("env_manager", default_value="false", description="Launch env_manager?")
+        DeclareLaunchArgument("env_manager", default_value="true", description="Launch env_manager?")
     )
     declared_arguments.append(
-        DeclareLaunchArgument("launch_sim", default_value="false", description="Launch simulation?")
+        DeclareLaunchArgument("launch_sim", default_value="true", description="Launch simulation?")
     )
     declared_arguments.append(
         DeclareLaunchArgument("launch_moveit", default_value="true", description="Launch moveit?")

rbs_bringup/launch/moveit.launch.py

@@ -192,6 +192,7 @@ def generate_launch_description():
         move_topose_action_server,
         gripper_control_node,
         move_cartesian_path_action_server,
-        move_joint_state_action_server
+        move_joint_state_action_server,
+        moveit_planning_scene_init
     ]
     return LaunchDescription(declared_arguments + nodes_to_start)

rbs_bringup/launch/simulation.launch.py

@@ -53,7 +53,7 @@ def generate_launch_description():
                  condition=IfCondition(sim_gazebo))
     
     env_manager = Node(package="env_manager", 
-                       executable="main",
+                       executable="env_manager_node",
                        condition=IfCondition(env_manager_cond)
                        )