add twist_cmd skill with condition

rbs_skill_servers/launch/skills.launch.py

@@ -118,6 +118,20 @@ def launch_setup(context, *args, **kwargs):
                 ],
                 condition=IfCondition(use_moveit),
             ),
+            ComposableNode(
+                package="rbs_skill_servers",
+                plugin="rbs_skill_actions::TwistCmdWithCondition",
+                name="twist_cmd_with_condition",
+                parameters=[
+                    {"use_sim_time": use_sim_time},
+                    {"condition_topic" : "/gz_ros2_vacuum_gripper_plugin/contact_info"},
+                    # {"robot_name": namespace},
+                    {"base_link": base_link_name},
+                    # {"ee_link": ee_link_name},
+                    # robot_description,
+                ],
+            ),
+
         ],
     )