Cartesian Move_to_pose Skill for BT Interface Node

rbs_skill_interfaces/CMakeLists.txt

@@ -20,6 +20,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
     "action/MoveitSendPose.action"
     "action/MoveitSendJointStates.action"
     "action/GripperCommand.action"
+    "action/RbsBt.action"
     "msg/ObjectInfo.msg"
     "msg/PropertyValuePair.msg"
     "msg/ActionFeedbackStatusConstants.msg"

rbs_skill_interfaces/action/RbsBt.action

@@ -0,0 +1,11 @@
+string sid
+string action
+string command
+---
+#result definition
+bool ok
+string status  #Use the constants of ActionResultStatusConstants in the status field
+---
+#feedback
+bool ok
+string status  #Use the constants of ActionFeedbackStatusConstants in the status field