Add minimal pick-and-place case with world embedded

rbs_skill_interfaces/CMakeLists.txt

@@ -9,6 +9,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(geometry_msgs REQUIRED)
+find_package(std_msgs REQUIRED)
 # uncomment the following section in order to fill in
 # further dependencies manually.
 # find_package(<dependency> REQUIRED)
@@ -20,8 +21,9 @@ rosidl_generate_interfaces(${PROJECT_NAME}
     "msg/PropertyValuePair.msg"
     "msg/ActionFeedbackStatusConstants.msg"
     "msg/ActionResultStatusConstants.msg"
-    "srv/BtInit.srv"
-    DEPENDENCIES geometry_msgs
+    "srv/GetPickPlacePoses.srv"
+    "srv/AddPlanningSceneObject.srv"
+    DEPENDENCIES geometry_msgs std_msgs
 )
 
 

rbs_skill_interfaces/action/GripperCommand.action

@@ -1,5 +1,5 @@
-float64 value
-string frame
+float32 position
 ---
 bool success
 ---
+string result

rbs_skill_interfaces/action/MoveitSendJointStates.action

@@ -3,7 +3,7 @@
 #goal definition
 string robot_name
 rbs_skill_interfaces/PropertyValuePair[] joint_pairs # list of joint_pairs (joint name + value)
-float32 joint_value # send joint value to gripper
+float64[] joint_values
 float32 joints_velocity_scaling_factor
 float32 joints_acceleration_scaling_factor
 float32 timeout_seconds #if this action cannot be completed within this time period it should be considered failed.

rbs_skill_interfaces/srv/AddPlanningSceneObject.srv

@@ -0,0 +1,4 @@
+float64[] object_pose
+string object_id
+---
+bool success

rbs_skill_interfaces/srv/GetPickPlacePoses.srv

@@ -0,0 +1,12 @@
+string object_name
+string pose_name
+---
+float64[] pre_grasp_pose
+float64[] grasp_pose
+float64[] post_grasp_pose
+float64[] post_grasp_pose_d
+float64[] pre_place_pose
+float64[] place_pose
+float64[] post_place_pose
+float64[] pre_place_joint_state
+string next_object