many changes

robossembler_interfaces/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(robossembler_interfaces)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+    "action/MoveitSendPose.action"
+    "msg/ActionFeedbackStatusConstants.msg"
+    "msg/ActionResultStatusConstants.msg"
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

robossembler_interfaces/action/MoveToJointsMoveIt.action

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+##Description: Moves robot arm to a specified joint space.
+
+#goal definition
+moveit_action_handlers/PropertyValuePair[] joint_pairs # list of joint_pairs (joint name + value)
+float32 end_effector_velocity
+float32 end_effector_acceleration
+float32 timeout_seconds #if this action cannot be completed within this time period it should be considered failed.
+---
+#result definition
+bool success
+uint64 millis_passed
+string status  #Use the constants of ActionResultStatusConstants in the status field
+---
+#feedback
+bool success
+uint64 millis_passed
+string status  #Use the constants of ActionFeedbackStatusConstants in the status field

robossembler_interfaces/action/MoveitSendPose.action

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+##Description: Moves robot arm to a specified pose relative to the frame in header.frame_id of target_pose
+#goal definition
+
+#Used to indicate which hardcoded motion constraint to use 
+#e.g 0 no constraint, 1 keep the same end effector orientation
+int32 constraint_mode
+#similar to geometry_msgs/PoseStamped but using euler instead of quaternion
+#at target_pose->header.frame_id define the tf frame 
+# which the pose will be calculated relative from
+geometry_msgs/PoseStamped target_pose
+string robot_name
+float32 end_effector_velocity
+float32 end_effector_acceleration
+float32 timeout_seconds #if this action cannot be completed within this time period it should be considered failed.
+---
+#result definition
+bool success
+uint64 millis_passed
+string status  #Use the constants of ActionResultStatusConstants in the status field
+---
+#feedback
+bool success
+uint64 millis_passed
+string status  #Use the constants of ActionFeedbackStatusConstants in the status field

robossembler_interfaces/msg/ActionFeedbackStatusConstants.msg

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+string PLANNING="Planning"
+string EXECUTING="Executing"
+string EMERGENCY_STOP="EmergencyStop"
+string OPERATIONAL_EXCEPTION="OperationalException"
+string CANCELLING="Cancelling"

robossembler_interfaces/msg/ActionResultStatusConstants.msg

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+string SUCCESS="Success"
+string PLANNING_FAILED="PlanningFailed"
+string CONTROL_FAILED="ControlFailed"
+string EMERGENCY_STOP="EmergencyStop"
+string OPERATIONAL_EXCEPTION="OperationalException"
+string CANCELLED="Cancelled"

robossembler_interfaces/msg/PropertyValuePair.msg

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+##Usage: In MoveToJointsMoveIt.action
+
+##Definition: A property name - Value definition.
+string name
+float64 value

robossembler_interfaces/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>robossembler_interfaces</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="ur.narmak@gmail.com">bill-finger</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+  
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>