Added rbs_gym package for RL & multi-robot launch setup

rbs_skill_servers/launch/skills.launch.py

@@ -26,6 +26,10 @@ def launch_setup(context, *args, **kwargs):
         "rbs_skill_servers", "config/gripperPositions.yaml"
     )
 
+    kinematics_yaml = load_yaml("rbs_arm", "config/kinematics.yaml")
+
+    robot_description_kinematics = {"robot_description_kinematics": kinematics_yaml}
+
     move_topose_action_server = Node(
         package="rbs_skill_servers",
         executable="move_topose_action_server",
@@ -38,12 +42,6 @@ def launch_setup(context, *args, **kwargs):
         ]
     )
 
-    move_to_pose = Node(
-        package="rbs_skill_servers",
-        executable="move_to_pose.py",
-        namespace=namespace
-    )
-
     gripper_control_node = Node(
         package="rbs_skill_servers",
         executable="gripper_control_action_server",
@@ -68,9 +66,17 @@ def launch_setup(context, *args, **kwargs):
             {"use_sim_time": use_sim_time},
         ]
     )
+
+    cartesian_move_to_pose_action_server = Node(
+        package="rbs_skill_servers",
+        executable="move_to_pose.py",
+        namespace=namespace,
+        parameters=[
+            {"use_sim_time": use_sim_time},
+            {"robot_name": namespace}
+            ]
+    )
     
-    # FIXME: The name of this node, "move_topose," 
-    # is intended to be different from the actual MoveToPose node.
     move_joint_state_action_server = Node(
         package="rbs_skill_servers",
         executable="move_to_joint_states_action_server",
@@ -95,7 +101,7 @@ def launch_setup(context, *args, **kwargs):
         gripper_control_node,
         move_cartesian_path_action_server,
         move_joint_state_action_server,
-        move_to_pose,
+        cartesian_move_to_pose_action_server,
         # grasp_pose_loader
     ]
     return nodes_to_start