Multi-Robot Setup

rbs_skill_servers/src/gripper_control_action_server.cpp

@@ -31,7 +31,7 @@ public:
         std::bind(&GripperControlActionServer::accepted_callback, this,
                   std::placeholders::_1));
     publisher = this->create_publisher<std_msgs::msg::Float64MultiArray>(
-        "/gripper_controller/commands", 10);
+        "~/gripper_controller/commands", 10);
   }
 
 private:
@@ -96,10 +96,3 @@ private:
 } // namespace rbs_skill_actions
 
 RCLCPP_COMPONENTS_REGISTER_NODE(rbs_skill_actions::GripperControlActionServer);
-
-// int main(int argc, char ** argv) {
-//     rclcpp::init(argc, argv);
-//     rbs_skill_actions::GripperControlActionServer server;
-//     rclcpp::spin(server);
-//     return 0;
-// }

rbs_skill_servers/src/move_to_joint_states_action_server.cpp

@@ -148,7 +148,8 @@ int main(int argc, char **argv) {
   rclcpp::init(argc, argv);
   rclcpp::NodeOptions node_options;
   node_options.automatically_declare_parameters_from_overrides(true);
-  auto node = rclcpp::Node::make_shared("move_topose", "", node_options);
+  auto node =
+      rclcpp::Node::make_shared("move_to_joint_states", "", node_options);
 
   rbs_skill_actions::MoveToJointStateActionServer server(node);
   std::thread run_server([&server]() {

rbs_skill_servers/src/pick_place_pose_loader.cpp

@@ -7,7 +7,6 @@
 #include <fstream>
 #include <geometry_msgs/msg/detail/pose__struct.hpp>
 #include <memory>
-#include <nlohmann/json_fwd.hpp>
 #include <rclcpp/logging.hpp>
 #include <sdf/Geometry.hh>
 #include <tf2_eigen/tf2_eigen.hpp>
@@ -119,4 +118,4 @@ std::vector<geometry_msgs::msg::Pose> GetGraspPlacePoseServer::collectPose(
   poses.push_back(tf2::toMsg(postGraspPose));
 
   return poses;
-}
+}