Add Plansys2 for task planning

rbs_skill_interfaces/CMakeLists.txt

@@ -21,9 +21,11 @@ rosidl_generate_interfaces(${PROJECT_NAME}
     "msg/PropertyValuePair.msg"
     "msg/ActionFeedbackStatusConstants.msg"
     "msg/ActionResultStatusConstants.msg"
+    "srv/BtInit.srv"
+    "srv/AssembleState.srv"
     "srv/GetPickPlacePoses.srv"
     "srv/AddPlanningSceneObject.srv"
-    DEPENDENCIES geometry_msgs std_msgs
+    DEPENDENCIES std_msgs geometry_msgs
 )
 
 

rbs_skill_interfaces/package.xml

@@ -12,6 +12,9 @@
   <exec_depend>rosidl_default_runtime</exec_depend>
   <member_of_group>rosidl_interface_packages</member_of_group>
 
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 

rbs_skill_interfaces/srv/AssembleState.srv

@@ -0,0 +1,31 @@
+# we can call different state for assemble process
+
+# INITIALIZE - find all information about assemble and provide it to tf2
+uint8 INITIALIZE=0
+
+# VALIDATE - check current state with correct assemle state
+uint8 VALIDATE=1
+
+# COMPLETE - finalize assemble process
+uint8 COMPLETE=2
+
+# CANCEL - force finalize assemble process
+uint8 CANCEL=3
+
+string assemble_name
+string part_name
+uint8 req_kind
+
+# workspace used only for INITIALIZE req_kind
+string workspace 
+
+---
+
+bool call_status
+
+# on error
+string error_msg
+
+# validate_status variable needed only for VALIDATE call
+bool validate_status
+