test scene for pick and place

rasmt_support/launch/rasmt_control.launch.py

@@ -67,6 +67,10 @@ def generate_launch_description():
         executable="spawner.py",
         arguments=["rasmt_hand_controller", "--controller-manager", "/controller_manager"],
     )
+    action_server_controller_hand_node = Node(
+        package="robossembler_servers",
+        executable="gripper_cmd_node"
+    )
 
     return LaunchDescription(
         launch_args + [
@@ -74,5 +78,6 @@ def generate_launch_description():
             robot_state_publisher,
             joint_state_broadcaster,
             controller_arm,
-            controller_hand
+            controller_hand,
+            action_server_controller_hand_node
     ])